Drone with four wings maneuverable by flapping action

ABSTRACT

An improved drone with 4 flat wings reciprocating up and down, complete with motor and electronics. Appendages on each wing&#39;s surface allow air to pass across it during the up-motion, and block it in the down-motion; this creates lift and permits flight and manoeuvres. The drone resembles either a flying bird or an insect, depending on wing motion and on passive attachments appropriate for the respective resemblance, making for inconspicuousness. The drone can execute complex work, either as solitary or in a team, either in flight or at rest in various places, after approaching and adhering expertly.

CLAIM OF PRIORITY UNDER 35 U.S.C. § 120

The present Application for Patent claims priority to U.S. Pat. No.10,526,086 issued on Jan. 7, 2020, hereby expressly incorporated byreference herein.

BACKGROUND Field

The present disclosure relates to small, unmanned flying apparatuses(drones), and in particular, drones that maneuver by flapping action ofthe wings.

Background

Small, unmanned flying apparatuses, called drones, already exist, mainlyused by armed forces, News services exaggerate on the matter as usual,and lowmakers (in USA first) reluctantly consider enacting laws coveringtheir usage by other administrative services and by the public at large(the private sector): usage deemed fruitful and indispensable by many,given that laws and regulations, strongly needed, get in force for theiruse and for safety in use.

Such apparatuses are mainly of the type of small airplanes; but alsodrone helicopters exist, along with several experimental flyers havingwings with either a rapid reciprocating up-and-down motion, or areciprocating fore-and-aft one. Each one of these four categories hasits own disadvantages

The small airplanes cannot float in the air (at a fixed aerialposition), they are noisy, and they can not operate ininconspicuousness,

The small helicopters are also noisy, they cannot fly hovering withtheir motor idle, and they cannot approach a given point enough forclinging upon (to execute work while motionless, in inconspicuousness),due mainly to the dimension of the rotor's blades.

The existing insect-like drones have wings reciprocating up and down,which present a certain asymmetry in the consecutive motions up anddown; inertia makes for fatigue and the materials wear out, or the wingsmust be strong enough and hence heavy.

During the down-motion the wing is in horizontal configuration in orderto produce lift; then there follows an instantaneous swivel-like turnand in the ensuing up-motion the wing is in vertical position (on avertical plane) for not having to meet any resisting air, then againthere follows a rapid, reverse turn, the wing reverts to horizontalconfiguration for the subsequent down movement, and so forth. The speedof the turns is achieved through revolving mechanical blows which arenoisy and cause wear of the material. Besides, these drones cannot hoverwith their motor idle, either.

The existing ornithopter machines have wings mimicking birds' motion:stretching and moving aft in one, contracting and moving fore in two.This composite in-and-out and fore-and-aft motion intends to make themachines unobservable, but the three-dimensional coordination can not beperfect, is not ergonomical, and so the flying quality and the stabilityin flight are not up to the mark, nor is the achieved inconspicuousnesssatisfying.

There also exist several further designs, very sophisticated inbiomimicry and in technology, which unfortunately have been stuck in theblueprint phase, due to the single biggest obstacle for flight,inconclusive aerodynamic efficiency.

It comes down that no existing category of drones fulfills the soughtrequirements that could make them instrumental and productive in a newway, which are: low observability (hardly attracting attention),quietness, capacity to float in the air and to hover

ability to approach and adhere to surfaces/objects, stay there at rest,and execute work when the moment comes; ability to disengage from theseplaces in a harmless way;

ability to execute various assignments/missions both while flying andwhile being stationary at places, as well as at the intermediate momentsof transitio: flying-to-stationary, and stationary-to-flying; and

ability to withstand hardships such as rain, heat, vibrations, dust,wind gusts, etc.

For the time being, drones are being used for military purposes, andexisting designs mainly serve these. New designs, though, emerge at aregular pace, calling for new uses and applications; mostly of largesize and very high cost, enriched with high technology, withconfidential if not secret systems. There is a need for new designssuitable for the private sector, small ones, with an affordable cost,with over-the-counter technology.

SUMMARY

The present disclosure describes a novel type of flying system fordrones, or micro air vehicles (MAV). In particular, a flying system isdisclosed formed of four wings integral with minute elements performingvarious roles in flight; they are made from transparent parts (and theentire drone is transparent); their form, extending X-style horizontallyfrom the drone body, and their motion are copying a bird's (or aninsect's) ones; thus they only attract little attention while flying orresting on a place and the flight passes inconspicuous, making thedrone's role instrumental in missions where this character ofinconspicuousness is needed.

BRIEF DESCRIPTION OF THE DRAWINGS

Purposes and advantages of the exemplary embodiments will be apparent tothose of ordinary skill in the art from the following detaileddescription in conjunction with the appended drawings in which likereference characters are used to indicate like elements, and in which:

FIG. 1 is a sketch of the machine in horizontal mode, view from above.

FIG. 2 is a sketch of the machine in vertical mode, from above.

FIG. 3 is a diagram of a wing, from above.

FIG. 4 is a diagram of an internal leaf element with 2 leaves, fromabove.

FIG. 5 is a diagram of an external leaf element with 4 leaves, fromabove.

FIG. 6 is a diagram of the up-motion of a wing, longitudinal view.

FIG. 7 is a diagram of the down-motion of a wing, longitudinal view.

FIG. 8 is a diagram: leaves, underfibers, and inverse Y stem,longitudinal view.

FIG. 9 is a diagram of over-fibers on a leaf element with 2 leaves, fromabove

FIG. 10 is a diagram of over-fibers on a leaf element with 4 leaves,from above.

FIG. 11 is a diagram of the radial component of the motion, longitudinalview.

FIG. 12 is a diagram of the parallel component of the motion,longitudinal view.

FIG. 13 is a diagram of the composite motion of a wing, longitudinalview.

FIG. 14 is a diagram of the tweaked flight mode, from above.

FIG. 15 is a diagram of the 3 telescopic legs, horizontal view.

FIG. 16 is a diagram of the wall-adherence system, from the side.

FIG. 17 is a diagram of a perforator adhering on a vertical woodenobject, from the side.

FIG. 18 is a diagram of the vertical-wire-adherence system, from theside.

FIG. 19 is a diagram of wire-adhering hook, needles revolving by 135°,from the side.

FIG. 20 is a diagram of the horizontal-wire-adherence system, from theside.

FIG. 21 is a diagram of optical beam reflecting on mirror inPenetration, from above

FIG. 22 is a diagram of launching a tag drop onto a car's roof, from theside.

FIG. 23 is a diagram of drones let fly free and deploying out of motherdrone's gate in Collective, from the side.

FIG. 24 is a diagram of gradual retrieval of drones back to motherdrone, from the side.

FIG. 25 is a diagram of rapid retrieval of drones in mother drone'sdeployed net, from the side.

FIG. 26 is a Triangulation diagram: given 2 points on the ground, theremaining two are sought in the air, empirically.

FIG. 27 is a Triangulation diagram: given 2 points on the ground, 2 aresought in the air, at equal heights, simultaneously.

FIG. 28 is a Triangulation diagram: given 2 points on the ground, 2 moreare sought in the air, at different heights, one by one.

FIG. 29 is a Triangulation diagram: given 2 points in the air, 2 moreare sought on the ground, simultaneously.

FIG. 30 is a Triangulation diagram: given 2 points in the air, 2 moreare sought in the air and/or the ground, many candidate pairs beingpossible.

FIG. 31 is a Triangulation diagram: given one point in the air (e.g. ona wall) and one on the ground just below, 2 more are sought in the airsimultaneously, disposed at median height.

FIG. 32 is a Triangulation diagram: given 3 points on the ground, 1 issought in the air.

FIG. 33 is a Triangulation diagram: given 3 points in the air, 2candidate “4^(th)s” are sought: one in the air higher, and one lower inthe air or possibly on the ground.

FIG. 34 is a Triangulation diagram: given 1 point on the ground, 3 moreare sought in the air.

FIG. 35 is a Triangulation diagram: given 1 point on the ground, 3 moreare sought in the air, many candidate combinations being possible.

FIG. 36 is a Triangulation diagram: given 1 point on the ground, 3 moreare sought in the air, simultaneously, disposed radially.

FIG. 37 is a Triangulation diagram: given one point in the air, threemore points are sought in the air and/or on the ground, disposedradially, many candidate combinations being possible.

DETAILED DESCRIPTION

The word “exemplary” is used herein to mean “serving as an example,instance, or illustration.” Any embodiment described herein as“exemplary” is not necessarily to be construed as preferred oradvantageous over other embodiments.

The following description is intended to convey a thorough understandingof the embodiments described by providing a number of specificembodiments and details involving methods and systems for managingcontent submission and publication of content. It should be appreciated,however, that the present invention is not limited to these specificembodiments and details, which are exemplary only. It is furtherunderstood that one possessing ordinary skill in the art, in light ofknown systems and methods, would appreciate the use of the invention forits intended purposes and benefits in any number of alternativeembodiments, depending upon specific design and other needs.

The present disclosure describes a novel type of flying system fordrones, or micro air vehicles (MAV). In particular, a flying system isdisclosed formed of four wings integral with minute elements performingvarious roles in flight; they are made from transparent parts (and theentire drone is transparent); their form, extending X-style horizontallyfrom the drone body, and their motion are copying a bird's (or aninsect's) ones; thus they only attract little attention while flying orresting on a place and the flight passes inconspicuous, making thedrone's role instrumental in missions where this character ofinconspicuousness is needed.

The group of functions in which a drone equipped with such a wingssystem excels is when the drone is called to adhere on a surface or anobject, horizontal (from below) or vertical, to stay there motionless,attracting no attention, and to perform work or whatever is needed. Thisis made feasible thanks to specific equipment-tools efficiently servingthe need for adherence and support at those places: a hook, a gluesubsystem, and legs.

The group of missions, made operative thanks to said character ofinconspicuous flight and thanks to use of the adherence-specificequipment, is quite various. The drone can help in patrollinginconspicuously aloft, triangulation in 3D and penetration in otherwiseinaccessible scenery and data transmission therefrom, and in approachand adhere to places in order to perform work there without attractingattention.

Each wing is oblong shaped, basically flat with a slight cylindricalcurvature at the edges, and resembling a bird's wing since it is coveredat the perimeter with camouflage material. Mechanisms move the fourwings (10,11) in one of two ways, alternating them at will as programmedbut also remote controlled (RC) in case of emergency: (i) the two pairsof diametrically opposite wings alternate in moving up and down (aninsect-flight mode), and (ii), all four wings flap together up and down(a bird-flight mode). The wing turns round its longitudinal axis BC togenerate horizontal thrust in flight, and flaps vertically in arepetitive two-part move (35) generating lift force: one, radial (33)round its support (A) on the drone body, and the other, parallel motion(34) together with the support, stretcher-like.

Longitudinal (15′) and transversal (16′) rods (“border lines”) withI-form cross section divide the leaf's surface into equal rectangles(13) (“leaf elements”), open conduit-like air passages (while externalleaf elements (14) adjacent to the perimeter 12′ are either triangles,trapezoids or pentagons); all leaf elements are each entirely occupiedby two non-overlapping, rectangular, equal-surface vanes (18), the“leaves” (the exception being the triangular ones, adjacent to theperimeter, 12′, occupied by an equally triangular leaf). Each leaf (17)is articulated (hinged) at one of its longer sides to a longitudinalborder (15) (part of a longitudinal border line, 15′), or (the externalleaves) to a p-border (12) (part of the perimeter, 12′), and free toflap up and down with its flat surface; this revolving articulation (21,24, 25) is fixed along the border's upper side, each border (15) havingtwo leaves (17) articulated at its two sides.

For lift force generation (26), in upstroke (20) the air pushes theleaves (17) to revolve open (21) (due to its inertia) up to an angleslightly less than 90°, a restriction achieved thanks to a network ofplastic fibers (27) (“under-fibers”) stretched below and parallel to theborders, held-glued there at quite-vertical thin plastic stems (28)hanging from border lines' intersections; this restriction has theleaves ready to return (24), pushed upwards by the air in the ensuingdown stroke (23), to original horizontal position (25) where they stick(and revolve no further up) thanks to another network of plastic fibers(29, 30) (“over-fibers”), longitudinal and transversal, interglued therejust above the leaves' horizontal position, thus helping keep the wingsurface airtight, fully occupied by leaves and borders, and promptinggeneration of lift force (26). Wing motion case-specific sequences,programmed for stability, befit flight in bird and in insect flight moderespectively.

Wings can also fold (49) out of the way in case the drone adheres andremains stationary in various places and attitudes (39, 40, 41 and 58).

Wings' transparency allows low visibility and low signature in flight.

Amplitude and frequency of wings' vertical move (35), and theirtransversal-angle attitude, are controlled and grant the dronecapability to perform every type of move, at various flight speeds,every direction/slope/acceleration, liftoff and smooth landing, VTOLquality, 3-axis turns, maneuvers in the air, soaring like a bird andfloating at a fixed point aloft. All this thanks to bespoke mechanismspowered by an engine and controlled by an onboard electronic (AI) unit.

The adhering subsystem confers the capacity to adhere to verticalplaces/objects by putting to use certain minute elements and thementioned capability to float-fly. A heating element (46) warms a smallquantity of thermoplastic material held in a container (43) and apumping mechanism injects a few drops thereof in melted glue formthrough a perforated, horizontal needle (44) up to a connectedwasher-like small surface (45, 54), kept for a moment in contact (byfloat-flying) with the object to adhere to (39, 41); there the warm gluecools and solidifies instantly, maintaining adherence force to theobject. A mechanism moves this glue subsystem between two alternatepositions, from high in the drone body's side to low and v.v., servingin adherence to a vertical surface (a wall, 39, a corner etc.) and to asmall-cross section vertical object (41) (e.g. a wire) respectively.Another mechanism brings-alternates two washer-like elements (45, 54) infront of the needle (44) for adhering on a wall (39) or a wire (41): aflat one and an angled (V-shaped) one respectively. The drone stays atthe place ready to perform work, and at the end the glued contact(45-39, 54-41) is heated again (by another heating element, 47), melts,and the drone flies away.

For staying adhered to a wall (39), two horizontal elements (48)extending from low in the drone's side provide a steady support, whereasin the case of a wire (41), a four-needle hook (52) protrudeshorizontally from high in the body side to expertly get anchored ontothe wire (41), to secure adherence attitude; eventually the hookdisengages (56′-57) equally expertly at mission's end and the droneflies away free.

The drone accepts at the subsystem's place other devices, replacing itfor adhering onto other objects in a multi-mission: an electromagnet,for iron posts; a needle, inversely catapulted, for vertical wood; aboring drill (50-51), again for wood (40); and a sucking device, forglass. Thanks to the wings' abilities, adhering action is hardlynoticeable: approach/departure get no attention, being immobile(resembling a bird) passes unnoticed, and the drone has a low signatureto tracing means.

A hook subsystem (60), similar to that (52) used to adhere to a verticalwire (41) but operating vertically, being turned by 90°, is used toadhere to horizontal objects of small cross section (e.g. a wire, 58) byputting to use the wings' mentioned capacity to float-fly. Thissubsystem pushes up (59) and maneuvers expertly its hook (60) to grip(60-60′) on to the wire (58); the drone stays hanging to perform work,and eventually maneuvers (56′, 57) to disengage and it flies away. Thisprocess is inconspicuous since the drone, resembling a bird, flies infloating mode and hooks (60-60′) on the wire (58) unnoticed.

A drone equipped with the described set of wings can render service byoverflying land, forest etc., detecting a hazardous event (forest fireetc.) and intervening to gather evidence from close. The wings are ametallic version adapted for the circumstance: they disposepiezoelectric-quality leaves, to endure high temperatures and updraftwind in blazing areas; they also have sensors/electronics/attachmentsvital for the mission, all heat-resistant; a database of the areasurveyed (reported/potential hot spots, and the land's relief), orprovision to download it while in flight; audiovisualpattern-recognition software; two cameras (optical, IR); and atele-microphone. The drone flies high in regular raster-like patternscanning the area allotted, assisted by GPS, first in reconnaissance toupdate the databases, then in a patrolling role to repeatedly overflyplaces every 10 to 15 min., ready to detect eventual evidence of smokepuff, intense light/temperature/sound, explosion etc., rousing noreaction, resembling an overflying bird. In such events it comparesevidence against the inborn database, pitches down to safely approachthe place, accordingly zooming the cameras, and transmits video to RCoperators in patrolling vehicles or HQs.

It ignores innocuous evidence (identified by the software as an animal,as rustle/knocks from tree branches, archived chimneys, fireworks, or abroken bottle under sunlight), it forwards details about persistingtemperatures and lots of sparks, and recalls from inborn storage andtransmits the last 15 min. video shooting (prior to it being erased, asprogrammed) for operators to spot eventual suspect past moves;eventually photos are taken on command. If a chimney ejects sparks,thick smoke, heat for longer than a preset time, it is identified andaction is on; thereafter, in a blazing (forest or town) fire situation,the drone surveys new hotspots, maps them and informs groundfirefighting crews.

A flying drone can enter and perform in various sceneries, efficientlyand as inconspicuously as a bird can fly, disposing the described typeof wings and augmented reality devices; the followingsceneries/situations, apparently differing, highlight in common the kindof the drone's usability, using the inborn electronics and audiovisualsto perform diverse assignments in complementary mode.

Electronic and computer games are one such category of sceneries,whereby the drone represents the player in real flight, not fictional,in both man-made and natural sceneries, simulated or carrying masks (oneof them being its own, bird-form).

Keeping an eye on natural environs, borders, sensitive facilities,herds, protected wildlife etc. is another field of usage, leavingactivities' flow unaffected, alike to a “bird” soaring around androusing no suspicions, non-arousing (for example) poachers' covetingcapture of such distant “living” and flying specimen. The drone recordsdistinct sounds from the milieu using telemicros; itsound-processes/alters them, and reproduces them (at irregulartimes/intensities) both televoiced and in tiny loudspeakers scattered inthe area, radio controlled, taking turns.

Also veterans under treatment can benefit: those getting psychological(audiovisual) help to overcome meta traumatic disorders (PTM&SD etc.),using augmented-reality optronics (Oculus-rift etc.) to ease exposuretherapy, virtually visiting past memories' theaters, e.g. battlefields,either recollected, faintly recalled, or famous historic ones(simulated, the latter). The (disguised) drone, blended into thisexisting practice, flies around and helps faint memories be recalled bytele-immersion into such theaters, the added value being not lettingtheir presence affect importantly the place (jungle, village, coast,offshore etc.) and not excessively using avatars/simulations. Thepatient hears/sees (through tele-micro and double-camera front/rear) andis heard/seen (through onboard loudspeaker/monitor, or additional largerscreen if needed): in relative inconspicuousness, thanks to theirvirtual-only presence in the field and to the drone's bird-resemblance.

Another useful application is a captive-flying drone being the virtualperiscope of a towing submarine sailing underneath, lower than atperiscope depth; it transmits data/video through the tying wire whichpulls sufficiently for the drone to maneuver like a bird in curves andthus pass unobserved by faraway tracing means: taking off on command,flying high, attaining big surveillance ranges, serving far better thanusual periscopes through inborn audiovisual and other equipment.

In all these cited exemplified versions of its usage, the drone asinteraction medium carries case-specific augmented reality devices; itis since its conception designed to satisfy all the above callings andmore, accordingly equipped, easy to adapt between cases and alwaysremaining least observable.

Another type of application consists in inconspicuous surveillance of,or escorting, a moving object (car, train, airplane, even a disguisinghood), performed by a small drone capable to resume operation even afterdiscontinuities take place, thanks to appropriate chemistry andmechanisms.

The drone (5), being tiny in size and flying quite invisible thanks toits wings' transparency and to its bird-like flight, tags at thetarget's surface (65) or roof (by getting close or contacting unseen) asmall RFID signaling device (prepared with sticking means on itssurface), or a quantity of traceable substance (66) radiating inspecific frequencies; next, this or another drone flies at safe distancein surveillance-escorting mode. Tagging with the substance is eitherdone by spraying it from close at controlled angles, or by letting adrop fall or by launching (blowing or piston-pushing) a droplet (66)enclosed in protective membrane; upon falling with momentum the membraneis broken and the material spreads unobserved (67), alike to a bird'sminute dejection, obscene but unimportant. The RFID device's operationeither ceases with time or actively by sending a deactivating signal orby commanding self-demolition; the substance's radiating function eitherends through timely deactivation or actively by beaming a specific rayonto it, resulting in chemically breaking it.

A different, group-working method of operation consists in a group ofdrones' resembling a small cloud in inconspicuous flight, disposingwings as described above, of which a large “mother drone” carries inflight a payload of safely stowed small, subsidiary or “daughterdrones”; it releases them aloft to deploy in formation and performcollective work, and eventually takes them back in, in flight, all thisbeing programmed or partly RC-ed. The daughter drones exit (75) themother drone (their base) from its underbelly (68), maneuver in 3dimensions in its company or not, fly in formation (and alter this, thedensity of flight and form of moves), scatter and regroup keepingcontrolled distances, follow individual roles as needed, and in due timereenter (78, 83) the mother drone (68) or otherwise disengage. They havemission-specific sensors/software/equipment, and appearance: basicallybird-form, least observable both in individual and in flock-form flight,but also (oversize) insect-form with the above described wings' motion.The mother drone sends the group radio commands or it relays theoperator's ones from HQs, and manages the daughter drones' moves:exit/deployment (76) from the underbelly (68), their collective flight,and getting back in (78, 83), safely stowed in rows/levels in transfer.For exiting, a backwards-guiding gate (70) is lowered (73); forreentering, the downed gate (70) swings to open forwards (74),scoop-wise; or for rapid group-reentering, a scoop-form net (82) unfurls(81) below the underbelly (68).

Another group-working application consists in a drones group'scollectively performing a local GPS-like operation in floating flightmode, equipped with wings of the described type conferring partialinvisibility aloft and constituting a daughter-drones group. The dronesoccupy in the air steady points of a local geo-positioning networkcovering a wide area independently of the widely used ones (GPS andrivals), owned/used by a private enterprise or a state agency. This getsimplemented step-by-step. First, points widely visible are defined onthe ground (high-rise roofs, hill tops, forest high points) at which aproprietary auxiliary transmitters network is installed and adjusted onthe base of said networks (GPS etc.) to help put right the main onealoft. Second, a mother drone takes off and distributes the smallerdrones in the air to occupy their prearranged places at a level plane infloating flight mode, neither overflying sensitive facilities norbothering airport approach/airliners' flight paths, equipped withtransmitters and programs for operation and position-adjustment, thislatter being controlled at a frequency not less than 10/1″ to brave windgusts. Transmitters are adjusted on the base of said networks inpeaceful times: on getting installed, or after landing (to refuel, toreceive maintenance, or to evade stormy weather) and taking off back toposition (or on reserve drones' taking up their position instead); orthey are adjusted on the base of said proprietary, auxiliary groundnetwork in critical times, when said grand networks keep absoluteaccuracy confidential. The drones either fly non-stop, receivingwireless energy or disposing photo electrics and battery, or aremotorized and are recalled to land for refueling and maintenance.

An altogether different group-wise application of drones, disposing thecharacteristic capability to fly inconspicuously with their wings asdescribed above, is a collective monitoring/transmitting operation inchain-like succession, the drones operating like daughter drones, eitherflying or being installed (in adhering mode on vertical surfaces orhanging from horizontal wires) at points along a virtual line,resembling a least-observable succession of innocuously flying orstanding birds, each one within view from adjacent ones on either side,thus helping the operator receive information and video from distant,normally inaccessible places through augmented reality technology. Thiseases the operator's virtual presence there, realized by opticaltransmission (accurate, interference-exempt) along the virtual line fromdrone to drone, either floating-flying or clinging stationary onobjects, with 3D photo-capacity, pattern-recognition software, andprogramming for narrow optical (in IR and UV) transceiving, compressedand spaced-out for security, also coded through polarized-angle jumping(that is, quantum key distribution, QKD); in parallel, radiotransceiving programming is kept on standby. Each drone disposes a flatmirror (61) and a mechanism adjusting its incidence angle so that thelight beam (63) (carrying data/video) coming from the next unit in frontbe reflected towards the direction (62) of the last unit behind (andv.v.). The drones are transported by a larger, mother drone: each oneexits at safe distance, flies low to its programmed place (disposing thearea's ground relief in store), and stays there float-flying or stickingto a firm object, ready to operate; it helps visually locate next one'sposition in front, watches over its installation, takes aim at both thisand the last one behind, and adjusts the mirror and the 2 antennae(front/rear); then successively in a row next drone in front performsalike and the network is finally operation-ready. Amplifiers aresupplied at distances as needed to restore signal strength decrease dueto repeated unit-to-unit transmission. On mission's end the unit most infront disengages first (if not ruled to self-demolish), supervisedoptically by the one behind, and flies away; next ones back in line doalike till all are retrieved by mother drone or fly low, back to safegrounds, assisted by GPS.

The drones are also instrumental in performing triangulation in3-dimensional space; their deployment is 3D, daughter-wise (transportedand released by a mother drone) if distances are great; they operate asa 4-strong group, either float-flying, inconspicuously, disposing wingsof the described type, or standing immobile, adhering on verticalobjects or hanging from horizontal wires, as near as possible to avirtual regular tetrahedron's apexes; they have sensors, programming andRC subsystems and can locate instantly in 3D an event's point of origin:radio/TV/e-m signal, detonation, flash etc.

A 3D-triangulation using four drones (“tetr”angulation, really) adds toa habitual triangulation's definition of a point in a horizontal planethe extra definition of the point's height from ground which is theissue's value added: angles are measured as usual in every 3-apex plane(all 4 of them, the tetrahedron's triangular sides), then bespokesoftware computes distances and estimates coordinates. A3D-triangulation is enacted step-by-step; tetrahedron's geometry is usedin installing/adjusting the 4 drones.

Some drones (either 1, 2, 3 or all 4 of them) are positioned aloft (94,86, 101, 95-96), and the remaining ones (if any) on the ground (98, 85,93): maximum 3 (93); firm objects/clear surfaces are sought at theapexes of a tetrahedron, suitably chosen, and drones are guided there tocling stationary, adhering or hanging or just lying on the ground; ifnothing fixed exists near an apex, a drone is installed float-flyingfirm at it, braving wind gusts, position-adjusted at a frequency atleast 10/1″; to secure this, as many auxiliary ground-based transmitters(like those described in the GPS application, drone-borne) as needed areused for continuous adjustment: 3 in total, of which one, two or allthree can be triangulation's drones proper, the remaining units (if any)being auxiliary.

Next, adjustment takes place and the triangulation sessions can beeffected. Drones positioned this way serve in accurately detectingevents originating inside the tetrahedron's space, but also to someextent those outside, even at distances four times the tetrahedron'sedge.

Position definition of the 4 apexes is effected in case-specific ways,depending on how many of the four points are self-evident, easy to thinkof, the remaining to be sought in the environs; e.g. given one pointhigh (adhering on a high-rise wall, 90, or float-flying) and a secondone on the ground just below (91), and seeking two points opposite inthe street at mid-height on walls or trees (92). A four-drone group canalso escort a convoy, flying unobservable at triangulation-readydistances, or similarly escort a car, possibly tagged as described.

The present flying machine, proposed through this invention, innovatesbecause it can execute the internal functions and the external work thatthe existing drones already execute, with a piece of value added: it canexecute them with full satisfaction of the above requirements; it offersan appearance of continuous reciprocating motion of wings in naturalsuccession (not too rapid, not in sequence of horizontal and verticalstance), unobserved and inconspicuous, since an accidental bystander'seye can only notice as follows: (i)

It remarks an object with moving wings, soaring in quietness in theenvironing space, among many other moving objects and (ii) has afleeting feeling of noticing a bird, or an insect, and at once getsunconcerned towards it and so, at the moment the functions and the workget executed by the “bird's”, the drone's accessories, there is novigilant eye in proximity to comment on the fact.

Specifically, the four wings of the present machine perform well becausea) with their very simple motion up and down, allowing air to passfreely through them in the up- and blocking it in the down-direction,and b) with the possibility they offer to the machine to pitch, roll andyaw and thus to execute every manoeuvre possible, the machine can copewith every demand for flight, turn, escape, survival, etc.

More specifically, the machine either resembles a bird (this is the casewhen the pair of the wings on the left side move jointly between themand in accordance with the two on the right side, i.e. the 4 wings movesimultaneously), or resembles an insect (in case two diametricallyopposite wings move simultaneously up while the remaining couple movedown, then the inverse, and so on repetitively). In both cases, eachwing executes the same up-and-down movement.

The machine further innovates with its ability to approach and to clingonto various places, in adherence to them, and to stay still there, ininconspicuousness, in order to execute functions and work, fullyunobserved; such ability offers a further piece of value added. Dronehelicopters (the only group of existing drones eligible to cope) cannotachieve such a procedure, due both to the vertical rotor's distance fromthe body and to the size of the horizontal rotor's blades, or in thecase of multiple rotor helicopters, due to the large dimension of thesystem: this renders a satisfying level of approach impossible for thisclass of drones; besides, for drone airplanes it is unthinkable toimagine such an endeavour. As for the existing types of insect-like andornithopter drones, the motion asymmetry of the first one and the jerkymotion of of the second one make for flight full of vibrations,discouraging designers to venture onto such procedures.

Given the two aforementioned abilities (it flies inconspicuously, itremains still in places), the machine is capable of accomplishingmissions where furtivity and inconspicuousness are sought andnoticeablity is shunned. Furthermore, it is exclusively suitable forundertaking such missions where unobserved approach to the workplace,and remaining motionless at it, are of importance. Several applications,missions of such a character, are described in the following.

Numbers of existing drones are systematically used in conflict zones andare being assigned various missions therein; furthermore, they renderservice in GIS work, firefighting, and some more. And in the privatesector, freedom to use them is sought but lawmakers don't seem to rushto.

The present drone can produce work and render service in these sectorswith more than a little suitability; it can open the door for noveltypes of missions thanks to its two inborn capabilities as above, andserve further sectors and purposes like the following: media, augmentedreality, education, games, environment, outdoors (wildlife etc.), realestate, law services, security, and more.

RELATED ART

-   Patent GB 1919/124607, H. Hetherington.

11a. It is stated (p. 2, 1. 51) that, when floating/drifting, airpressure maintains the wing surface intact; this is objectable, sincethe brakes (stops) (25) against the vanes (24) opening upwards (FIG. 7)cannot keep them on this surface, the vanes gravitating to an openedposition (p. 2, 1. 46) when idle (either this, or the upward stops mustbe re-designed in FIG. 8 with lesser or no height); another objection isthat the two stops (25) on the sides of each vane (24) act (to stop thevane's upward motion in the wing's downstroke) on the two sides of thevane, on a particular point in either side, generating flexure on twodimensions: one, on the vane's front-to-rear direction, generating thevane surface's sagging, and the other, on the wing's transversaldirection, flexing the vane's free part (between the stop (25) and thevane's free angle); these two effects are counter-productive togeneration of lift force (leaving gaps in the perimeter of the vane andrestricting in reality the active, lift force-generating surface of thevane and of the wing in total) and cause fatigue of the material; tocounter this, the material of the vanes must be strong to meet themechanical claims, which translates into excess weight.

11b. There is no mechanism or device allowing or restricting the vanes'downward opening in upstroke to a predetermined degree of opening,making sure their return to normal horizontal position in the wing'sdownstroke.

11c. The T-section frame members 20 (FIGS. 4 to 9) restrict the wing'sactive, lift force-generating area versus having elongated verticalI-section, for having the horizontal protruding parts on either side,due to (possibly) inefficient materials available at the time.

11d. The brake (9) countering pulley wheel's (5) too fast revolving(FIGS. 11-13) is counter-productive and may be omitted, since resistanceto air normally provides the restricting force against the lot ofinterconnected mechanisms revolving fast.

11e. The proposed mechanisms for the elliptical motion of the wings(page 1, line 33) and the motion of the tail are not quite biomimicrybiomimicry; in detail: (i) the wings are too predeterminedly mechanised,since grooves (42) and depressions (43) of the pulley wheel (5) (FIGS.14-16) and pins and other minute elements and the great number of gearsgive a non-natural appearance of repeatedness (and are prone tomalfunction), and (ii) the tail's control is too rhythmic, since pinion(33), cooperating with hand heel 36 and controlling the vertical rack 34(FIGS. 15, 16), only permits vertical motion (and is again prone tomalfunction) or whatever rotation angle about the longitudinal axis hasbeen preset in the hand wheel, thus not really steering the machine, ifnot in.

12. Patent US 2000/6082671, R. Michelson/Georgia Tech R.C.

12a. The wings generate lift force by only flapping up and down, whichis not really productive; and the two-stage biomimicry (flying,crawling) is mediocre.

12b. Birds' wings, efficient due to evolution, extend with their partsleaving gaps between them in the up-for-ward move, and retract withthese parts leaving no gaps in the down-rear-ward one, and so the airpresents minimal resistance to the former and substantial one to thelatter move, and compound lift and frontward force is generated. In theinvention the interstitial material attached to the wing spars (26) and(27) allows some undulating configuration during each wing's motionagainst the air, permitting a certain amount of lift force generation,but this is not satisfactory.

12c. The hollow flexible stiffening veins 120 to 127 the flexibleexoskeleton 34, the elastic outer skin of reaction chamber 51, thehorizontal flexible strap separating the bladders 85 and 86, thevertical such separating the differentially inflated bladders 93 from 94and 95 from 96 and the flexible pressurised bellows 220 and 221 as wellas 320 and 321, are all prone to fatigue after a great number ofextension/retraction (and more so if the entomopter is to fly outdoors,under solar UV rays.

12d. The use of waste gas flow to produce sounds and range distances inthe year 2000 is academic but impractical (far better devices,electronic ones, exist and do not need any gas flow).

12e. Concerning the crawling capability, the exact moment of leg's 140engagement at the leg angle stop 146 (against the leg actuation armwhich reciprocates up and down at a rapid pace) under the weight of thefuselage is uncertain and so the mechanism is prone to malfunction, somuch the more since there are four leg mechanisms.

13. Patent US 2006/0102782, M. Earl, R. Earl.

13a. The comments in previous Paragraph 12a and in the first part ofParagraph 12b are also valid here. The invention employs elastic wingswith highly torsional configuration of their central parts near theirfulcrum (FIG. 1), mainly by attaching the wings firmly to the body (inthe preferred embodiment) and having the wing spars bent to the rear(paragraph 0012, 0013); this helps in generating a certain amount oflift force, but it is not satisfactory.

13b. Rear strut extensions (39) and pliable mylar membrane material(FIGS. 11-13) confer elasticity in up- and downstroke which alsogenerates some forward force, but this is minimal.

13c. The machine is in reality a toy-like device, the elastic band-formpower source (7) providing a very low force, duration and total energy(FIG. 1).

13d. In upstroke and downstroke wing vanes (26) (wide) and (27)(narrow), that is barbules (22) and (23), bend differently, thusgenerating lift force during the latter move, whereas air passes(partly) free across in the former; in detail:

A In upstroke the vanes (26), (27) leave a narrow, sloping, free activegap for air to pass with no resistance;

A1. This gap is narrow compared with the distance (21) between adjacentwing spars, whereas the remaining inactive area's width (spar-to-spar,minus the active gap) functions like a funnel and presents friction toair which is obliged to pass through the narrow free active gap;

A2 This gap obliges the air to pass in sloping direction, so presentinga certain amount of frontal (vertical) resistance to air;

A3. The narrow barbule (23) of a feather being in front of the next(rearward) feather's wide barbule (22), the funnel resulting in upstrokemakes for counter-productive generation of the resistance force'shorizontal component towards the front, countering frontward flight (orthe drawings must be redrawn, the other way round);

A4. all this translates into an ineffective action of barbules,resistance to air from the inactive area's upstroke move, andcounter-productive horizontal force component;

A5. further to this, nothing assures that the narrow vane (27) will notbend downward in upstroke (due to inert air's pressure) to furtherrestrict the passage, except if having a really stiff feather (20) (andwing) construction (FIGS. 3, 4) in the transversal dimension, whichtranslates into too much weight for this apparently very light device.

B. In downstroke the vanes cooperate in forming a continuous surfaceleaving no free passage to air, by having the wide vane (26) besupported by the narrow vane (27);

B1. commenting this, similar to paragraph A5 above, nothing assures thatvane (27) will not bend upward, yielding to pressure from vane (26) anddissipating the unified-surface effect, starting from (27)'s frail endfar from shaft (21), where the center of force from air resistance onbarbule (26) strongly applies, then following in yielding of total(27)'s span and generating unwanted air passages between sloping (27)and (26) barbules;

B2. such passages, similar to paragraph A3 above, would direct airfrontward, countering the forward-directed flight;

B3. but the most dismal effect from barbule 27's yield would be thedissipation of the effect of the unified wing surface, as stated inparagraph B1 above, no more generating lift force;

B4. to prevent barbule 27's yield, the machine must dispose a strongconstruction of feathers and the ensuing excess weight, as alreadystated in paragraph AS above. 13e It is inferred from the above thatthis machine is not really efficient in generating a steady lift force.

14. Patent US 2011/0278391, A. Kotler

14a. The comments in Paragraph 12a above and in the first part ofParagraph 12b are also valid here.

14b. The invention employs two pairs of blade-wings with phasedifference between front and rear wings, which makes for unsteady coursein flight, countering the camera's effective function.

14c. The wings have a fixed surface and generate lift force by theirreciprocating up and down move, which is neither efficiently generatinglift force nor effective biomimicry.

14d. The blade-wings may be moved from their base in the torsion,bending and yaw directions for the two pairs of anterior and posteriorblade-wings pair with shift of a phase between them. More specifically,thrust, pitch, yaw and roll flight control are provided by changingamplitudes of returnable forward-rotary actuations of each blade-wing.This means that such flight controls are possible, but only throughcomplicated blade-wing actuations. A tail beam is assembled to thefuselage's back end for stabilisation, establishing a centre of mass ata desired position. From this it is understood that at least one deadweight is annexed to the machine's body in order to amend aninefficiency (in this case, in assertaining its stability by itself inthe first place).

15. The present machine in light of the specific four prior art patents

15a. Facing H. Hetherington's patent from 1919, the present machinedisposes networks of under-fibers and over-fibers below and just overthe wings respectively, which control the extension of the opening andthe closing phases of each wing in the up- and the downstrokerespectively. The surface of the wing remains plain while soaring, afact wrongly claimed in the prior art. The active, lift force-generatingpercentage of the wing's surface is closer to unit(=1) than in the priorart, since the cross section of the borders is elongated vertical andnot like the T-form frame members of the prior art. Steering through atail attachment is superfluous, since every kind of manoeuvre isfeasible through adjusting the inclination and the amplitude of wings'moves.

15b. Facing R. Michelson's patent from 2000, the present machine alsohas wings flapping up and down, but not undulating: they have vanesfully opening down in upstroke and firmly closing in the downstrokemove, which is far better at generating lift force. There are no hollowflexible elements like in the prior art, only plain and fixed ones, notprone to fatigue through long use. Crawling (though prone to malfunctionin the prior art) is not a part of this machine's specifications, butthe three adjustable-height telescopic legs (cf C4.2b. below) confer thecapacity to stay upright on the ground.

15c. Facing M. and R. Earl's patent from 2006, like in the first commentin 15b above, wings also flap up and down in the present machine, butgenerate lift force through vanes opening and closing, not through awave-form move of wings and through the elasticity of mylar membranesurfacing of the prior art which do not generate lift force like inflying birds. There is no excluding a part of the wing surface due toonly being active a passage of air (though directed forward, counteringforward flight) between the barbules in the prior art, but almost thetotal of the wing surface (pending deduction of the surface of borders)is active, generating lift force; and forward movement is feasiblethrough suitable turn of the wing round its longitudinal axis. Regardingthe general character of the present machine, it is a real workingappliance with motor, electronics and controls, and not a toy-likedevice as is the prior art.

15d. Facing A. Kotler's patent from 2011, like in the first comment in15b above, wings also flap up and down in the present machine, butgenerate lift force through vanes opening and closing, not through anup-and-down move of blade-wings like in the prior art which does notsufficiently generate lift force. There is not a phase differencebetween front and rear wings, which causes an unsteady course in theprior art. Pairs of diametrically opposite situated wings work togetherin tandem, with their centre of force being in the same vertical linewith the machine's centre of gravity: either the two pairs moving oneafter another repetitively in the insect-like flying mode, which issteady both horizontally and vertically, or all four wings movingtogether in the bird-like flying mode, which is steady horizontally butless so vertically; anyway, steadier than the prior art which isunsteady horizontally.

15e. Facing the group of the four prior art patents, the present flyingmachine is the only one really capable of flying a steady course in anydirection and making whatever manoeuvre in flight: turns round the 3axes, accelerating and decelerating, liftoff and landing; all this,while remaining almost invisible, thanks to its effective biomimicry,both in flight due to its wings' inconspicuous way of moving and inappearance due to its peripheral appendages. More than this, it has theother capabilities unique so far from a flying scope: to approach andadhere onto various objects and places, and to execute work no otherflying unit has ever had the ability to realise.

1a. This is about an unmanned machine of small size that can fly thanksto a motor, to appropriate gear, and to expert software; and mostimportantly, thanks to a novel method of creating lift, the basicingredient for flight: moving up-and-down wings resembling a bird's oran insect's ones. There are four flat wings, of which 2 are on the leftside (1, 2) and 2 on the right side (3, 4). The architecture of thewings is described in short in the following (C2.1 below) and moreextensively further on. They move unimpeded up (20), letting air freelyflow across their area (21), then upon moving down (23) they block theair (25), push it down and generate lift, and so on, repeatedly.

1b. Such machines are called unmanned air vehicles, UAVs; small ones arecalled drones; so, this is a novel kind of a drone, or rather a novelcategory of drones, a step of striking change, adaptable to everybody'sneeds, and then evolution follows: as soon as further needs andnecessities arise in the future, with vivid imagination notwith-holding,eventually various types of such a drone will be designed and brought toaction. This flyer outclasses old ones in performing a wide range ofoperations, as detailed below. It is not meant to improve on existingdrones and flying techniques. It is in essence a new system and methodaltogether, regarding drones and the notion of flight respectively.

1c. In flight, the machine reminds a bird or an insect (a bug, abutterfly, etc.) thanks to (repeatedly reciprocating up and down) wingmotion respectively programmed and thanks to peripheral appendagesintensifying the respective appearance. It has the capacity to executeevery possible flight move, every detour and manoeuvre, and to approachto and adhere inertly upon various surfaces and objects, detailed in thefollowing, either staying there at rest (unobserved) or being ready toexecute work (in silence). Such places include walls, trees, wires, theground, the water surface, even underwater.

1d. The machine carries equipment with affixed accessories; these inferthe possibility to carry out a wide variety of work while either inflight or stationary on a place.

2e. The important condition for designing such a machine, producing it,and putting it to operation is its inconspicuous existence andoperation: as non-observable as possible, due to its appearance, passiveappendages and quietness, and untraceable, with sealed circuits and withprovision to self-destruct.

1f. In the following, the machine in view will be related to as machineor drone: machine, mostly in case its mechanics are referred to; drones,in case the flight abilities and the unity of the apparatus come first.But really, the designation remains text-agnostic.

2 Form

2a. The body of the machine has an elongated form, with a steadycross-section through the whole lengh, with external texture andcoloration in accord with the important condition of inconspicuousnessas above. There is provision for peripheral non-operative (passive)attachments covering the body, with appropriate colour, texture andcase-dependent form to mimick a bird's or an insect's body (beak, legs,plume, antennae, shiny or coloured hump, etc.), with the additionalprovision of them moving life-like, especially at the wings' tip.

2b. There is also provision (set of mechanisms and wing moves): forsetting the body lengh in any angle to the horizontal: the machine (i.e.the machine's body) being in horizontal (5), upright (6), or inclinedmode (horizontal for normal flight, upright for adhering to a verticalsurface, and inclined during manoeuvres and while following the ground'srelief), and for adjusting: A) the wings' horizontality, the machinebeing in anyone of these three modes, B) the horizontal angle betweenthe two medium lines (the axes) of the wings on the left side of themachine, as well as the angle between the two on the right, and C) thedistance between the two support points of these wings (from anaerodynamic point of view, the vertical distance between these twosupport points in upright mode needs to be substantially less than theirhorizontal distance in horizontal mode).

3. Arrangement

3a. The machine has A) internally: a motor, transmission mechanisms, ameans for energy storage (pertol tank and/or battery), sensors ofinternal functions, AI unit, printed circuits, the necessary wiring, asmall explosive charge for technical purposes and eventually forself-destruction, and equipment for performing internal functions. B)externally: the envelope of the body, made from material (i) consistentwith the “important condition” stated above—inconspicuousness, and (ii)enduring adverse conditions and multiple kinds of physical attacks(vibration, radiation, rain, shower, dust storm, seawater etc.), alongwith the necessary aerodynamic devices for generating lift (and flight),i.e. the wings, sensors (antennas, cameras), transmitters, (possibly)photovoltaics, and adherence- and mission-specific equipment (that is,various attachments for adhering to places, and accessories forexecution of work).

3b. The axes of the machine's body are: longitudinal (i.e. fore andaft), (7), transverse (8), and vertical (9). In the following, in caseno horizontal or vertical mode of the machine is mentioned, horizontalis assumed.

4. Size

The size of the machines can vary between the two extremes of very smalland quite large:

4a. A tiny drone, of the order of an insect: equipped with an electricmotor, and has only few functions besides flight, mainly video andsound.

4b. a medium size drone, of the order of a small bird: a small petrol(or castor oil) motor, or an electric one, and more abilities, likeapproach—adherence to places, transmission relaying, follow-up flight,swarm-mode flight, incessant flight-cum-photovoltaics, etc.

4c. Quite large a drone, of the order of a large bird: either a strongpetrol motor (with muffled exhaust) or an electric one with rectennas toreceive broadcast energy; external RC arm with varying work-appropriateextensions; a sensor for dust precipitating (on body and cameras), and ahydraulic system to shower it off; a hatchway space (attached on theunderside) for “mother-drone” assignment, for small (similar) subsidiarydrones swarming out, working in collective flight, and returning backin; etc.

4d. The machines are graded according to the weight they can carry,their total weight, and the capacity of their motor unit.

5. Functions and Work.

5a. The machine has the capacity to stay idle in a place, unobserved,until a signal for action is received. It can operate following aprogramme either until a programmed moment comes, setting off alarm andceasing operation, or until a signal is received to turn into RC (remotecontrol), then again revert to programmed flight at a propicious moment(cf C6.4j. below), using (broadcast from headquarters, or) inborne SW(software) coupled with the AI unit (artificial intelligence).

5b. It can be programmed, e.g. to fly at a fixed (or changing) altitudeand direction, based on needs and regulations (e.g. to avert collision,under a proprietary TCAS-level SW), or to respect a set flight priorityin case 2 drones fly on merging (colliding) paths at the same altitude,and to follow regulations (when bills and acts get passed) for keepingdistances from buildings, houses, army facilities, groups of people etc.for inconspicuousness and safety, based on a set system (rightfullyupdated) applying marks to places and spaces.

5c. In this description of the invention there are a small number ofalternative proposals in presenting materials and processes, since itsdesign is not based on prior models, its construction is first hand, andits operation is still not fully tried to a great extent.

C2 Wings

C2 1 to 7 Generalities: Flight Modes, Creation of Lift, Axes, andBalance 1. General description of a wing:

1a. The machine carries at its two sides four flat, leaf-shaped wings 11producing lift necessary for flight to occur. They move each one up anddown in a continuous reciprocative way, following a pattern for movingjointly between them. The wings serve in performing flight in variousways, the flight modes, of which there are five, presented hereafter,and described further-on below: (i) insect-like mode, (ii) bird-likemode, (iii) tweaked mode, (v) hovering mode, (vi) floating mode, itsparticular case, captive mode, and (vii) collective mode.

1b. At the base of each wing there is a short axis AB, the complementaryaxis 10, producing no lift, supported unto the machine's body at pointA. In continuation of the straight line AB there is the basic part BC ofthe wing, its operative axis 11, producing lift. The angle ABC, normally180°, can be changed depending on the necessities of flight: this is thetweaked mode. The structure of a wing is basically on a plane, butdepending on the necessities of flight (to better produce lift) it canbe slightly curved (in a cylindrical form: the two transversally extremeregions, most distant from the median line BC, are bent down. Thedisposition of a wing is basically horizontal, but again depending onthe necessities of flight (to better execute manoeuvres) it can rapidlychange inclination by turning around the (longitudinal) median line BC,through a turn of the axis ABC at point A as a swivel. The contour of awing is supplemented with appendages in the form of feathers or plumeand care will be paid for it not to present much resistance to aireither in flight or while staying motionless at a place.

1c. On the flat layout of the wing, borders are arranged on twodirections, longitudinal 15 and transversal 16. They divide the wing'ssurface into leaf elements 13, 14, surface portions individuallygenerating lift. Lift is generated by leaves 17, 18 affixed to theborders and occupying the whole of the surface of each leaf element.Leaves are scheduled to easily bend or revolve down during the up-motion20 of the wing, in order to give way to the air so that it passes freethrough the leaf elements (and the wing's surface as a whole). On theother hand, during the down-motion 23 of the wing they are being kept(by force) on the plane of the wing, soa) being restrained fromrevolving up, b) presenting resistance to air encountered during themotion (in reality, the air resists to the leaves moving down and to thewing as a whole), and producing lift_force, sustaining the flight.

1d. In the context of the up-motion of the wing, the freedom of theleaves to bend or to revolve down is restrained from attaining a 90°rotation by the means of arrranging a net of under-fibers 27 below theleaves. In the context of the down-motion, the confinement of the leaveswithin the wing's plane, leaving them no freedom to (equally as above)bend or revolve up, is achieved through arranging a net of over-fibersjust above the surface of the leaf elements (and of the wing as awhole).

2. A wing's axes are: longitudinal (the line ABC in its basicappearance, straight), transverse (the vertical to ABC, standing on theplane of the flat wing), and vertical (which is vertical both tolongitudinal and to transverse).

3. Each wing moves basically in a radial configuration 33, 35 up anddown repeatedly, round its point of support A, its transversal axismaintained horizontal, but depending on the mechanical necessities offlight (and also in order to achieve the perfect appearance of a livingflyer) the transversal axis is temporarily inclined during flight and incertain patterns of manoeuvres, and especially inclined towards thefront during take-off and accceleration, and towards the back forlanding and for deceleration (cf C3.6. below). The radial motion depictsan angle of roughly 35° (33) in a rapid reciprocating succession: up,down up, down, . . ., repetitively. The repetition rate depends on thedesired appearance: about 4/sec to mimic a bird (or 3/sec for largerdrones), and more than 12/sec for an insect.

4. Description of the wings:

4a. The wings on the left side of the body are numbered 2 and 1, thenumbering direction being the same with the direction of flight, andsimilarly the ones on the right side are 4 (aft) and 3 (fore). Wingsmove in one out of 2 basic patterns, or flight_modes: insect-like andbird-like.

4b. First mode: Wings 1 and 4 move simultaneously down while wings 2 and3 move simultaneously up, then in succession 1 and 4 move simultaneouslyup while 2 and 3 move simultaneously down, then again 1 and 4 down while2 and 3 up, and so forth, i.e. each one of the two pairs ofdiametrically opposite wings move simultaneously down while the otherpair move up, next, in rapid succession, each one of the two pairs movesimultaneously in the opposite direction, next they move again in theirprevious direction, and so on, in an insect-like mode.

4c. Second mode: The four wings move simultaneously: the pair on theleft side move jointly between them, as well as the two on the rightside: up, down, up, down, up, . . . , in a bird-like mode.

5. The angle between the two axes of the wings on the same side is closeto 90° in insect-like mode and close to non-existant in bird-like mode,and likewise the distance between their support points on the body.There is a mechanism providing for a flight mode transition duringflight (insect-like to bird-like mode, and vice-versa), by which thedrone can change its appearance while flying (quite high) at a distancefrom casual watchers, for achieving desired effects; the transition isachieved by altering one or more of the four flight-modecharacteristics: motion mode, repetition rate, axes angle, and supportpoints distance.

6. There is a third possibility as far as flight modes are examined, the“tweaked” mode:

6a. The tweaked flight mode is accomplished through imposing on thewing's central line ABC an articulated bend at point B 36, at an anglefluctuating at will, making it a broken line. This mode contributes tostability of flight. The two bends (at the B points) of a pair ofdiametrically opposed wings, say 2 and 3, bring the two wings' centresof air resistance towards places C1 and C2 just on either side of C′,the body's centre of air resistance, and the straight line C1C′C2becomes perpendicular to the machine's longitudinal axis instead ofroughly at an angle of 45° (the basic configuration of the wings),making the flight quite bird-like although only two out of the fourwings are operative at any one moment (a pattern basically insect-form,now turned bird-form).

6b. Next moment, wings 2 and 3 sustain a bends-straightening 36′, andretreat to their basic postures (whereas the three centres of airresistence [centre of 1], [centre of body] and [centre of 4] lay on astraight line roughly at 45° to the longitudinal), while the other pair,the wings 1 and 4, sustain at their B points an equal bend as the above37, bringing their centres of air resistance unto the same points C1 andC2 as above.

6c. Next, wings 1 and 4 straighten back and wings 2 and 3 bend again,next 2 and 3 straighten while 1 and 4 bend anew, and so forth. Thistweaked mode is useful for certain flight manoeuvres, but theconfiguration is not robust enough, mechanically.

7. Balance of the drone:

7a. For each one of the two pairs of diametrically opposite wings i.e. 1and 4, as well as 2 and 3 the weights of the two wings are equal, andlikewise for their resistance to air.

7b. Two conditions are in force in order for the machine to beself-redressing in case it gets momentarily out of balance: for each onepair, their two centres of gravity are symmetrical in reference to thecentre of the compound weight of the body with all its accessories, andlikewise for their centres of air resistance in reference to the centreof total air resistance of the drone, by arranging accordingly theattachments to the body.

7c. In said case of the drone getting out of balance, redressability isenhanced if the four wings are momentarily disposed in their uppermostposition (76, 77). Concerning said total drone air resistance, it meansboth a) resistance to vertical air direction, for flight sustenance, andb) resistance to air direction (counter to drone's direction) at any onegiven moment.

7d. Wings in good balance can also serve in hovering mode, withoutmoving in a reciprocative way. The upper surface of the wing, disposedin a slightly curved form, conduces to low pressure and itsfront-mounted feather-like attachments play the role of arazor-sharp-like angle of attack, so hovering flight is sustained.

C2 8 to 16 Border, Leaf, Leaf Element

8. Description of borders:

8a. As already related (1c. above), each one of the four wings has itssurface divided into “leaf elements” by disposing “border lines”parallel to the medium line BC (the operative axis), longitudinal to thewing (15′), equidistant between them, and further border lines verticalto them, transversal to the wing (16′), again equidistant between them.The resulting leaf elements are either quadrilateral rectangular,quadrilateral oblique, triangular, or pentagonal: respectively r-, o-,t-, and p-leaf elements.

8b. Border-line pieces corresponding to individual leaf elements are the“borders” (15, 16). Each border line's 2 ending points are points of thewing's perimeter (12′). Each and every part of the perimeter between twoadjacent ending points is a “p-border” (12) and corresponds to either aquadrilateral oblique or a triangular leaf element. The total of thep-borders on a leaf constitute its perimeter (12′). Each border belongsto two leaf elements, adjacent to one another. It separates them andsupports one leaf from each one of the two leaf elements. The two leavesare each fastened to one of the two sides of the border's upper surface.

8c. Borders and p-borders, collectively designated as (p-)borders, aremade of transparent, plastic material (through extrusion, 3D printing,or other production methods), with an intensely oblong (elongated)rectangular cross section having its 4 corners slightly rounded, or(alternatively and in order to cut down on weight, but on the other handrisking a higher visibility to radar emissions) an intensely oblongelliptical cross section; only in case of high temperature, intenseradiation or other adverse environmental conditions are metallicnon-ferrous (p-)borders used instead of the plastic ones. The larger ofthe 2 dimensions of borders' and p-borders' cross sections is verticalto the plane of the wing, so that the best possible endurance-to-weightratio is attained.

8d. All uppermost points of a wing's border lines are disposed on theupper level of the wing, taking in account the provision (1b. above)that this surface's sides are bent down in a cylindrical configurationon aerodynamic terms. The same is valid for the lowest extreme of allborder lines' cross section, situated on the inferior level of the wing,taking in account the same provision. The uppermost line of the thewing's perimeter (counting as the total of the p-borders) lies at thewing's upper level as above. The perimeter's cross section is slightlyhigher than that of the border lines, and quite wider, in order to bearthe weight and to endure the vibrations of the border lines.

8e. The perimeter (12′) is made in one piece along with thecomplementary axis AB (10); the transversal border lines (16′) are alsomade each one in one piece (they are shorter than the longitudinal onesand so they behave stronger mechanically); the longitudinal ones (15′)are made piece by piece and soldered (or glued) to the transversals. Thewhole of the structure [border lines (both longitudinals andtransversals), perimeter, and complementary axis] can be 3D-printed forbest mechanical results: inclusion of specific high-resistance fibersthe length of its parts reinforces it.

8f. A p-border's external face follows the curve of the wing'sperimeter, but its internal face follows a straight line (19), in theimage of a regular border (longitudinal or transversal). In case thecross section is rectangular, the internal face is flat, on an uprightplane.

9. A leaf, and categories of leaf elements:

9a. A leaf is either triangular 18, or quadrilateral: a quadrangle 17 ora trapezoid. A quadrilateral leaf's 4 sides are the support line(fastened to one of the 4 borders or p-borders), the 2 transversalbordering sides, adjacent to the support line and meeting one of itsextremes each, and the bordering line opposite the support line,designated as the leaf's free side. A triangular leaf's three sides arethe support line and the other two sides: its bordering sides or freesides. A leaf is either made of plastic (and transparent) material, orof thin metal, depending on the need to operate unnoticed on one handand on environmental conditions on the other.

9b. Depending on the place each leaf element occupies on the plane of awing, the leaf elements diversify, and the different categories, asdepicted already (8a. above), are described below. There are r-leafelements (quadrilateral rectangular, 10. below), o-leaf elements(quadrilateral oblique, 11. below), t-leaf elements (triangular, 15.below), and p-leaf elements (pentagonal ones, 24. below).

9c. Further on, the o-leaf elements divide (cf 11a. below) into t.o-leafelements (transversal oblique leaf elements, 12. below) and l.o-leafelements (longitudinal oblique leaf elements, 13. below). Andspecifically for the l.o-leaf elements, we distinguish (cf 13a.b below)the m-case l.o-leaf elements (more-than-half case longitudinal obliqueleaf elements, 13b. below), the h-case l.o-leaf elements (half-caselongitudinal oblique elements, 13d. below), and the l-case l.o-leafelements (less-than-half case longitudinal oblique leaf elements, 13e.below).

9d. Quadrilateral leaf elements either have 2 quadrilateral leaves or 4triangular ones. Hereafter, 2-leaf quadrilaterals are described asdefault case. Further down (14. below), the 4-leaf configuration isdescribed. Triangular leaf elements have one stand-alone triangularleaf.

10. Description of a quadrilateral rectangular leaf element:

10a The quadrilateral rectangular leaf elements (designated r-leafelements as above) constitute the majority of a wing's leaf elements;they are the ones non-adjacent to the wing's perimeter. They are eachconfined by four borders, two of them longitudinal 15 and twotransversal 16; these leaf elements are all equal between them. They areeither rectangles or squares, depending on the relation between thedensities of the longitudinal and the transversal border lines, but inthe case of rectangle r-leaf elements, provision is taken so that theirgreater dimension is longitudinal.

10b. Two rectangular “leaves” 17, non-overlapping, cover the whole ofeach and every one of these leaf elements; they are fastened on the twolongitudinal borders (15); they meet at the median line between (andparallel to) the two supporting longitudinal borders, not connectingbetween them at this line; as for the longitudinal dimension of theleaves, at the two transversal bordering sides each one of the twoleaves reaches to the two transversal borders enclosing the leafelement, not connecting with them.

11. Description of a quadrilateral oblique leaf element:

11a. The quadrilateral oblique leaf elements (designated as o-leafelements as above), are situated adjacent to the perimeter of the wing.They are trapezoidal in shape. Depending on their place on the perimeterof the wing's plane, they are each (as already depicted, 9. above):either confined by a p-border, its neighbouring transversal border, and2 longitudinal ones (a transversal oblique leaf element, designated as at.o leaf element case) (12.below), or confined by a p-border again, itsneighbouring longitudinal border, and 2 transversal ones (a longitudinaloblique leaf element, designated as an l.o-leaf element case) (13.below)

11b. A t.o-leaf element sits on the wing's extreme, near the point Cwhere the p-border replaces a transversal border in the usualconfiguration of a leaf element confined by 4 borders (as at 10a.above), while an l.o-leaf element is situated on the side of a wing(away from the points B and C of the wing axis ABC) where the peripheralp-border is substituted to a longitudinal border.

12. Description of a transversal oblique leaf element:

12a. The total of the surface of a t.o-leaf element is occupied by twoleaves, non-overlapping, both trapezoids (an alternative configuration,with four leaves, is described at 14. below).

12b. Like the leaves of the r-leaf elements (10. above), the rectangularones, they have the same width (on the transversal dimension); they aresimilarly fastened along their length each to the correspondinglongitudinal border of the leaf element to which they belong; they meetat the median line between (and parallel to) the two longitudinalborders, not connecting between them;

12c. Each leaf's external bordering side, the one reaching to thep-border, is oblique to the wing axis in general; only exception, onesuch leaf element, situated just on the wing axis, may have its twoleaves with external bordering sides being transversal (cf 22e. below).

12d. the other one, the internal bordering side of each leaf, istransversal (that is, perpen-dicular to its length and to the wing axisABC) and reaches to the leaf element's transversal border;

12e. The above two bordering sides are not connected with thecorresponding borders (i.e. the border and the p-border).

13. Description of a longitudinal oblique leaf element:

13a. The total of the surface of an l.o-leaf element is (in the standardconfiguration), occupied by two leaves, non-overlapping; (twoalternative configurations are possible and, at cases, preferable: (i)an l.o-leaf element with 4 leaves (described at 14. below), and (ii) anl.o-leaf element with one leaf (described at 15d. below). Depending onthe place of an l.o-leaf element along the sides of the wing, a) thelonger of the two transversal borders may either be equal in length(“full length”) to a regular transversal border (one that belongs to anr-leaf element, as are the majority of a wing's leaf elements), or lessthan that, and b) the shorter of the two transversal borders may beeither half the length of the other one, or longer, or shorter thanthis. These cases are designated as h-case l.o-leaf element, m-casel.o-leaf element, and l-case l.o-leaf element respectively, meaning halfcase, more-than-half case, and less-than-half case respectively.Particularly in an m-case l.o-leaf element, the external leaf, the onetowards the p-border, is of trapezoidal form in case the longertransversal border is full length (as above) or quite so, andconversely, it is of triangular form in case the longer transversalborder is small; besides, in both an h-case and an 1-case ones, theexternal leaf is a triangle.

13b. In an m-case, l.o-leaf element (more-than-half case longitudinaloblique leaf element), the putative trapezoidal external leaf's twoparallel bordering sides, the transversal ones, reach to the 2transversal borders, not connecting with them; its external, oblique,bordering line is fastened to the p-border's straight internal face; andits internal bordering line is parallel to the longitudinal border andmeets the internal leaf of the same leaf element, not connecting withit. On the contrary case, the external leaf being a triangle, it isdescribed alongside of the triangular leaf elements (15b. below).

13c. The other leaf, the internal one (of an m-case, l.o-leaf element),is a rectangle. It is equal in dimensions as the leaves of the r-leafelements (10. above) in the case of a full-lengthlonger-transversal-border or quite so, and lesser in width than that inother cases. It meets the external leaf (trapezoidal or triangular, asabove) without connecting with it, and it is fastened to thelongitudinal border; its 2 transversal bordering sides reach to the twotransversal borders, not connecting with them.

13d. In an h-case, l.o-leaf element (half case longitudinal oblique leafelement), a) the external leaf, a triangular one, is described alongsideof the t-leaf elements (15b below), and b) the internal leaf is similarin description to the internal leaf of an m-case, l.o-leaf element (13c.above): equal in dimensions as the leaves of the r-leaf elements in caseof full-length longer-transversal-border, of lesser width in othercases, reaching to the external leaf and to the two transversal bordersbut not connecting with them, and being fastened to the longitudinalborder.

13e. In an l-case, l.o-leaf element (less-than-half case longitudinaloblique leaf element), a) the external leaf, a triangular one, is againdescribed alongside of the t-leaf elements (15b. below), and b) theinternal leaf is nearly like the internal leaf of an m-case, l.o-leafelement (13c. above) in description: it has the same length, but alesser width than that one has; it reaches to the external leaf and tothe 2 transversal borders but does not connect with them, and it isfastened to the longitudinal border.

A four-leaf leaf element configuration, alternative to the describedtwo-leaf one and preferable at times, depending on the wing'saerodynamic necessities for flight, is the standard configuration forthe leaves of the extreme side quadrilateral leaf elements most distantfrom the median line BC, the l.o-leaf elements (longitudinal oblique):Instead of having two leaves, as described above, the whole of thesurface of an l.o-leaf element is occupied by four triangular leaves 18,non-overlapping, which meet at a point near or exactly at theintersection of the two diagonals of the rectangular. Each one of the 4leaves is fastened to either one of the three borders or to the p-border(the three borders and the p-border which surround every leaf elementadjacent to the wing's perimeter). Depending on the conditions of theprogrammed flight and on the type of the mission, the 4-leafconfiguration may be preferable to the two-leaf one for allquadrilateral leaf elements of the wings: r-, l.o-, and t.o-leafelements, as well as the p-leaf elements (cf 24b. below). This meansthat the wings, constructed in this way beforehand, are prepared to beattached to the machine, ready to operate, in the case of bespokeconditions of flight and type of mission.

15. Description of a triangular leaf element (and of a triangular leafin general):

15a. The triangular leaf elements (called t-leaf elements as above) aresituated adjacent to the perimeter of the wing; they are confined by ap-border, a longitudinal border, and a transversal border. Everytriangular element has one leaf, a “sole leaf”, occupying the whole ofthe surface of the leaf element. The two borders intersect at 90° andthe third bordering line, the straight internal face of the p-border, isdisposed at various inclinations to the wing's ABC axis, depending onthe triangle's various places along the perimeter of the wing.

15b. The triangular external leaves of the m-case l.o-leaf elements(putative, 11b, above), of the h-case ones (11d, above) and of thel-case ones (11e, above) fall into the same description as the soleleaves of the triangular leaf elements.

In all of these four groups, the standard fastening configuration is foreach one of the triangular leaves to be fastened to the p-border'sstraight internal face. (Alternatively, for practical reasons and forfacilitating neighbouring leaves' treatment, the triangle is fastened tothe longitudinal border, as in 15d. below.) The two other sides (in thestandard configuration) reach to the two respective extremes (onelongitudinal, one transversal), not connecting with them.

15c. Of these two extremes of a triangular leaf, the transversal one isthe transversal border in all four groups. The longitudinal extreme isthe longitudinal border in the case of the sole leaf of the triangularleaf elements, and it is the external bordering line of the internalleaf in all 3 cases of m-case (but putative), h-case, and l-case of thel.o-leaf element kind.

15d. An alternative configuration is used for simplicity in the cases ofthe l.o-leaf elements of quite small transversal dimension and of thetriangular leaf elements: a) A longitudinal oblique leaf element, incase the longer transversal border is of quite small length, can havethe whole of its surface occupied by a sole leaf (instead of by twosmaller leaves) fastened to the longitudinal border and non-connectingto any of the two transversal borders or to the p-border and b) atriangular leaf element on the other hand can have its sole triangularleaf fastened to the longitudinal border (instead of to the p-border)and reaching but non-connecting to both the transversal border and thep-border. Such a configuration utilises the longitudinal borders (and nop-borders), which are already used for fastening the leaves of theneighbouring leaf elements.

16. Description of a leaf's fastening method and composition: A leaf isfastened to a (p-)border, along its support line, in two ways: either

16a. the leaf can rotate freely and radially around the upper limit ofthe border (as far as the under-fibers and the over-fibers permit it todo so), so that the leaf's bordering line opposite to the support line(i.e. the free side of the leaf) describes a cylindrical figure aroundthe support line; the support line running along the border's upperlimit constitutes a linear articulation; or

16b. The leaf's part adjacent to the border does not revolve around thesupport line which runs along the border's upper limit facing the leaf;the material of the leaf has a certain plasticity which allows it tobend down elastically and to return (in the up-motion and thedown-motion of the wing, respectively); the support line running alongthe border's upper limit is a stiff, non-yielding fasten-line.

16c. Depending on either stiff or articulated fastening being theleaf-to-border connection, the material of the leaves differs. For alinear articulation (16a. above), the leaf is made of transparent, stiffplastic material while for stiff fastening the leaf is made oftransparent, thin plastic, bendable under stress. 16d The composition ofthe leaves is different in the case of adverse environmental conditionssuch as a corrosive environment, high temperature, or intense radiation:the leaves are metallic, from non-magnetising material, similar to thatused for borders (8c. above) under such conditions.

C2 17 to 24 Under-Fibers, Vertical Stems

17. Description of under-fibers:

17a. As already related (1d. above), during the up-motion of the wingthe leaves bend or revolve down in order to let air pass free across thesurface of the wing and the freedom of said bending/revolving isrestrained from attaining a full rotation of 90° through arrranging anet of under-fibers 27 below the leaves. The under-fibers are disposedparallel to the borders (and to the eventual p-borders), but theydiverge slightly inwards to the leaf elements the respective leavesbelong to, (disposed) at a level lower than the wing's level but alittle higher than the lowest lines of the leaves 17 and 27 in their“open” phase (fully bent/revolved down), and are connected with theintersections of borders through the means of “vertical stems” (whichare not exactly vertical) hanging from these intersections. Wedistinguish standard under-fibers, affixed to the undermost (tip) pointof the stems, and additional under-fibers, parallel to the standard onesbut affixed higher, between the tip and the root of the stems.

17b. The cause of using under-fibers is that, if the two leaves fastenedto the sides of a border (leaves belonging to two neighbouring leafelements) are allowed to rotate at 90° (or even more, in the putativeabsence of underfibers, and to such an extent that they meet betweenthem below the lowest line of the border) the duration of the up-motion,then, at the moment of starting the ensuing down-motion of the wing, theair will not really tend to blow them apart (towards their normalposition—closed), but it will rather push them harder to one another,presumably, which does not conduce to creation of lift. So, under-fibers27 are adopted, the leaves' opening angle is kept less than 90° 21, andup-and-down wing-motion functions correctly (cf 26c. below).

18. Under-fibers and vertical stems in the case of (two-leaf) r-leafelements (the standard configuration of quadrilateral rectangular ones,10. above):

18a. The under-fibers correspond to the borders as follows: oneunder-fiber parallel to and below each transversal border line, equal toit in length, reaching to the perimeter of the wing at its two extremes,and two under-fibers parallel to and at the same height between thembelow each longitudinal border line, equal to it in length, reaching tothe perimeter of the wing at each under-fiber's two extremes.

18b. The transversal and the longitudinal under-fibers collectivelyconstitute the grid of under-fibers. They are equally distant from theupper extreme of the borders, a distance a little bit less than thewidth (the transversal dimension) of the corresponding leaves of the twoneighbouring leaf elements (i.e., the two leaves that rotate from thetwo sides, coming each from one of the two neighbouring leaf elements,and encounter the under-fibers with a certain velocity, violently). Atthis height, the transversal under-fibers are soldered with the (couplesof) longitudinal ones (calling for the existence of two vertical stemsat each intersection of borders). Their meeting points are sustained atthis height thanks to the vertical stems.

18c. Instead of having two vertical stems at each intersection, there isone stem hanging from and soldered to the central point of eachintersection of two border lines (one longitudinal, one transversal,meeting at)90°, and at its lower extreme there are two short offshootsat 90° between them, directed downwards, so that the total of the 3parts, the vertical stem as such, resembles an overturned Y, designatedas Y′ 28.

18d. The Y's are hanging from the borders' intersections, each one fromeach, perpendic-ular to the wing's plane; it is noted that the wing'stwo transversal extremes, most distant from the median line BC, areslightly curved in a cylindrical form with axis parallel to the wing'saxis ABC (cf 1b. above), so the vertical stems at and near these twoextremes are disposed perpendicular not to the local direction of thelocally situated (inclined) transversal border, but rather perpendicularto the wing's plane as a whole. The (two-dimensional) Y′ is situated ona vertical plane, perpendicular to the plane of the wing and transversalin direction. The free undermost extreme of each one of the two oblique(at 45°) offshoots of the Y′ supports (is soldered to) the joint of thecorresponding transversal under-fiber with one of the two local(standard) longitudinal under-fibers.

18e. Potentially, after experimental trials, an additional longitudinalunder-fiber is disposed above and parallel to the standard one at anyplace, at an appropriate height, in order to keep under control theleaf, which curves under the pressure of the air. For perfect controlthen, a number of additional under-fibers can be disposed at variousheights, accordingly soldered to the Y′ at the respective heights. For amore accurate under-fiber geometry, 2 sole-shoot oblique so-called“vertical” stems can be connected (at a transversal orientation betweenthe two in a configuration of an overturned V (designated as V′) insteadof the Y′, each half-V′ being suitably inclined (in a vertical,transversal plane, the two of them being in the same plane), in order tokeep each (on-soldered) additional longitudinal under-fiberappropriately disposed parallel to the border and with the correctdivergence inwards of the leaf element (cf 26b. below). Here,correctness means to follow the leaf's curvature (at its open position)with the successive one-over-another under-fibers, for best aerodynamicconditions.

18f. As for their aerodynamic efficiency, the under-fibers (eitherstandard or additional) do not present any drag to air because they aredisposed shielded from the passage of air by the leaves themselves.

18g. Each (under-the-border-line, face-to-face) pair of under-fibers areat a distance from one another a little more than the total of [thewidth of the border]+[the two thicknesses of the articulations, in thecase of revolving leaves, not of the stiffly fastened ones], so that theleaves are restrained from performing a full 90° revolution in order fortheir coming back to their standard position (on the plane of the wing)to be fail-safe and prompt during the down-motion of the wing, as in17b. above.

19. Under-fibers and vertical stems in the case of (adjacent to thewing's perimeter) two-leaf, l.o-leaf elements (thesimilar-to-r-leaf-element configuration of longitudinal obliques, as in13a. above):

19a. The internal leaf is fastened to one side of the longitudinalborder while the neighbouring (rectangular) leaf element's respectiveleaf is fastened to the other side, in the same configuration as in theforegoing, for r-leaf elements (18. above). The vertical stems aredisposed as above.

19b. The external leaf is fastened (at its external oblique borderingline) to the p-border's straight internal side. There is not any otherleaf to be fastened to the p-border's external side, so there is onlyone under-fiber running rectilinear below the fastening line at theinternal side of each p-border (with the correct divergence inwards ofthe l.o-leaf element), following in the long run the curvature of thewing's perimeter in the form of a broken line, whose pieces arestraight: the inner sides of the p-borders. Additional under-fibers,optional, finalise the external leaf's curvature and improve onaerodynamic efficiency. The vertical stems are one-shoot, straightsupports (with the option of a curved form on a transversal plane, forperfect control of the opening of leaves) hanging each from a meetingT-point of a transversal border line with the perimeter of the wing.

20 Under-fibers and vertical stems in case of 4-leaf, l.o-leaf elements,as in 14, above:

20a. L.o-leaf elements of wings used for specific conditions of flightand specific missions are preferably configurated with 4 triangularleaves, as detailed earlier.

20b. There are 2 longitudinal under-fibers under the longitudinal border(for l.o-leaf element's internal triangular leaf and for neighbouringleaf element's rectangular one), one oblique under-fiber under thep-border (for the l.o-leaf element's external triangular leaf), and

20c. Either two transversal under-fibers under each one of the twotransversal borders (for l.o-leaf element's side-disposed triangularleaf and the neighbouring four-leaf l.o-leaf element's triangular one),in case there are similar neighbouring l.o-leaf elements, or

20d. only one transversal under-fiber under any one transversal border,in case the corresponding neighbouring leaf element is triangular (at-leaf element), in which case the neighbouring one-only triangularleaf's fastening is effected: either on the t-leaf element's p-border inthe standard configuration, or on the t-leaf element's longitudinalborder in the alternative configuration (15d.b. above).

20e. In the case of a neighbouring l.o-leaf element (20c. above), a) Themeeting T-point of the transversal border line with the perimeter of thewing has a Y′-form vertical stem (or an optional V′-form one) situatedin a vertical plane “quite-longitudinal” (meaning that the plane passesthrough or comprises the line perpendicular to the bisector of the anglebetween the two p-borders surrounding the T-point from both sides); thisvertical stem supports both the sole oblique perimetral under-fiber andthe two transversal ones. b) The intersection of the 2 borders,longitudinal and transversal, has a compound vertical stem configurationin order to support the two longitudinal and the two transversalunder-fibers (which form a square between their four points soldered tothe stem's offshoots): instead of the Y′ (or the optional V′)configuration, four oblique ofshoots (either partial for the Y′ kind, orentire for the V′, as far as their height is concerned), hanging fromthe intersection, form a quadrilateral pyramid between them

20f. In the second case (20d. above), the longitudinally-boundneighbouring leaf element being triangular (a t-leaf element), a) Themeeting T-point of the transversal border line with the perimeter of thewing has a sole vertical stem supporting the two under-fibers, onetransversal and one running under the p-borders. b) The intersection ofthe two borders, longitudinal and transversal, has an Y′-form (oroptional V′-form) vertical stem supporting the two longitudinal and theone-only transversal under-fibers, which vertical stem is situated in avertical and transversal plane.

20g. In both cases (20e. and 20f. above) the option, if not thenecessity, is still valid for adopting additional under-fibers along theheight of the vertical stems, and so the more for the present case oftriangular leaves, since the tip of a leaf in the open phase is just apoint; so, for better control of the restraining—the-opening—angleaction, the additional under-fibers are a requisite.

21. Under-fibers and vertical stems in case of l-leaf l.o-leaf elements,as in 15d.a. above:

21a. Quadrilateral leaf elements of small (transversal) width, adjacentto the perimeter, have only one leaf for practical reasons, fastened tothe longitudinal border, as detailed earlier. 21b. The neighbouringadjacent-to-the-perimeter leaf element being either a triangular one, alongitudinal, or a transversal oblique one, the transversally-boundneighbouring leaf element is either an r-leaf element (rectangular) or at.o-leaf element (transversal oblique). There are a transversal and twolongitudinal under-fibers. The situation is similar to the one detailed(18. above) for the rectangular leaf elements. An Y′-form (or theoptional V′-form) vertical stem situated in a vertical and transversalplane is to support the transversal under-fiber and the two longitudinalones.

22. Under-fibers and vertical stems in case of (two-leaf) t.o-leafelements, as in 12. above:

22a. The two leaves are fastened on the two longitudinal borders. Thetransversally-bound neighbouring leaf element is either (case one)another t.o-leaf element or a t-leaf element. A t-leaf element'striangular leaf is fastened either (case two) on the p-border (in thestandard configuration), or (case three) on the longitudinal border (inthe alternative one).

22b. There is one longitudinal under-fiber under each one of the twolongitudinal borders, in case two above, or there are two in cases oneand three. Under the transversal border there is one under-fiber, andone more under-fiber runs under the p-border.

22c. In case two, there is a straight (one-shoot) vertical stem undereach one of the four corners of the quadrilateral shape of the t.o-leafelement, in order to support the one-only under-fiber. In cases one andthree, there is an Y′-form (or an optional V′-form) under each corner,in order to support the two longitudinal under-fibers and either thetransversal or the perimetral under-fiber, depending on the particularcorner.

22d. The two Y′- or V′-form vertical stems hanging under the twointersections of the two longitudinal border lines with the transversalone are in a plane vertical and transversal, the two of them in the sameplane. Those two hanging under the meeting T-points of the twolongitudinal borders with the perimeter of the wing are each in a planevertical to the plane of the wing and “quite-transversal” (cf 20e.a.above) (meaning that the plane passes through or comprises the lineperpendicular to the bisector of the angle between the two p-borderssurrounding the T-point from both sides):

22e. As a general rule, the two longitudinal borders are of unequallength, and the p-border is oblique to the wing axis ABC; nevertheless,with one exception (cf 12c. above). In the case of the shorterlongitudinal border of each t.o-leaf element, some local thickening ofthe p-border along its respective half, on its internal face, makes forefficiency in leaf motion and control:

22f. the (free) internal bordering line of the leaf which is fastened tothe shorter longitudinal border shrinks from a trapezoidal to arectangular shape thanks to this action, and so it can be controlled(restrained in its opening phase) by an equally-long under-fiber;otherwise, the external bordering line, the one fastened to the shorterlongitudinal border, remains shorter than the (untouched) internal onewhich revolves to open in the down-motion, resulting in the awkwardcondition of the under-fiber being incapable to control a longer-lengthleaf.

23.Under-fibers and vertical stems in case of t-leaf elements (cf 15b.and 15d.b. above): As detailed earlier, the triangular leaf is fastenedeither (case one) on the p-border, Or (case two) on the longitudinalborder. The adjacent-to-the-perimeter neighbouring leaf elements arequadrilateral obliques (either l.o- or t.o-leaf elements), and in rareoccasions a rectangular (r-leaf element) where a longitudinal and atransversal borders meet at a point belonging to the perimeter of thewing. In case onel (the standard configuration) there is an under-fibereach under the longitudinal border, the transversal border and thep-border, in all 3 under-fibers. There is one straight (one-shoot)vertical stem hanging from each one of the tringular leaf element'sthree corners. In case two (the alternative configuration) there are twounder-fibers under the longitudinal border, supporting both the t-leafelement's sole triangular leaf and the neighbouring leaf element's leaf,and one under-fiber each under the transversal border and the p-border.There is an Y′-form (or an optional V′ form) vertical stem hanging fromthe intersection of the two border lines, longitudinal and transversal,situated in a plane vertical and transversal; also an Y′-form (or a V′one) hanging from the meeting T-point of the longitudinal border withthe p-border; and a straight vertical stem hanging from the meetingT-point of the transversal border with the p-border.

24. Particular case: pentagonal (five-lateral) leaf element's leaves,under-fibers, and vertical stems.

24a. A pentagonal, designated as p-leaf element (9b. above), is situatedadjacent to the perimeter of the wing; as a general rule, along theperimeter the neighbouring leaf elements (facing outwards of the wing)on both sides are triangular, while across the other two borders (facinginwards of the wing) the neighbouring ones are r-leaf elements; a p-leafelement has a longitudinal and a transversal borders of normal lengths,plus a longitudinal and a transversal ones of lesser lengths reaching tothe perimeter at their respective meeting T-points, and a p-borderextending between these two T-points.

24b. A p-leaf element can convert into a quadrangular one throughappropriately transposing the shorter tranversal border; e.g., by havingit rotate and move its meeting T-point with the perimeter move towardsthe shorter longitudinal border's T-point and coincide with it, a) thepentagonal becomes quadrilateral oblique (a trapezoid), having twoleaves, resembling a t.o-leaf elemment, and shrinks in surface, b) theshort tranversal border increases slightly in length, c) the triangle onthe other side of this border also increases in surface, and d) thetotal amount of the two surfaces remains unchanged.

24c. Subsequently to performing the transposition here detailed, a) thetrapezoid (ex-pentagonal) can have its apppendages (borders, leavesetc.) proportionate to its new shape and surface, in acccordance withthe preceding (12a. or 14. above, and 22. above); b) the triangle canhave its appendages proportionate to its new surface, in accordance withthe preceding (15a., 15d.b., and 23. above).

C2 25 to 27 Over-Fibers, Opening Angle of Leaves, Piezoelectrics

25. Description of over-fibers:

25a. As already related (1c. and 1d. above), during the up-motion of thewing 20 the leaves 17 bend or revolve down 21, allowing air to passthrough, and they present no drag. In the context of the down-motion 23,the leaves are pushed back upwards by the air 24 and tend to return totheir standard position on the wing's plane and, if possible, furtherup. Having in mind the necessity for creating lift force, a passivemechanism is put in place for the leaves to be kept (by force) on thewing's plane 25 during the down-motion, and so a) to be impeded fromoutrunning the wing plane and revolving up, b) to present drag to airencountered during the down-motion (in reality, the air resists to theleaves and to the wing as a whole moving down) 26, and c) for lift forceto be created, sustaining the capacity for flight. The confinement ofthe leaves within the wing plane, leaving them no freedom to revolve up,is achieved through arranging a net of over-fibers (29, 30, 31, 32) justabove the surface of the leaf elements (and of the wing as a whole).

25b. The over-fibers are thin non-ferrous wires or plastic fibers,fastened (glued or welded accordingly) at their extremities on theperimeter of the wing and extending just over the border lines, disposedin two directions which depend on the configuration of quadrilateralleaf elements: a) 0° (29) and 90° (30) upon the direction of the axisABC of the wing (rectangular arrangement), in the case of two-leaf leafelements, that is in the case of rectangular leaves, or b)(approximately or) just 45° and 135° (oblique arrangement) in the caseof four-leaf leaf elements and t-leaf elements, that is in the case oftriangular leaves. Hereafter the disposition of over-fibers is describedwhile adopting the first of the two configurations, but theirdisposition in case of the second configuration can be correspondinglyunderstood.

25c. The net of over-fibers is constructed in one of the following ways:a) the 2 directions of over-fibers are knitted between them in the way atennis racquet is. This standard method is valid for both wires andplastic fibers.

b) b net of plastic over-fibers can be strengthened through gluing orlightly soldering the fibers at the intersection points, and one of wireover-fibers through welding the wires at crossing points. c) a plasticover-fibers net can be either extruded or 3d-printed for maximumresistance-to-weight ratio.

25d. The density of the over-fibers in the plane of the net is highenough so that the leaves, pushed upon them by air during thedown-motion, stay level and don't sag between the fibers, and low enoughfor the over-fibers not to present a strong drag force to air as itpasses through leaf elements during the up-motion, with the leaves inopen position. For this reason, the diameter of the wires is kept small;or, alternatively, the cross section of plactic over-fibers iselliptical with the larger diameter perpendicular to the wing plane, inorder to reach a low [resistance to air]-to-weight ratio. The density inthe rectangular arrangement is equal for the two directions ofover-fibers. In the oblique arrangement the density of the transversalover-fibers is higher than that of the longitudinal ones. As far as therectangular arrangement goes 29, 30, at least (just above and) near eachone of the (longitudinal, parallel between them) internal (free)bordering lines of the rectangular leaves, there are two longitudinalover-fibers, distant just a bit between them, independently of the setdensity: a) one, just inwards of the free bordering line (towards theleaf's center), and b) one more, just a little further inwards. Andconcerning the transversal over-fibers, at least one is disposed justinwards of each bordering side of the rectangular leaves. As for theoblique arrangement (31, 32), independently of the set density, oneover-fiber is disposed (just above and) just inwards of each straightline constituted by the free bordering sides of the consecutivetriangular leaves of (diagonally) neighbouring leaf elements.

25e. An example: For a wing with a length 150% times its width, whichhas square r-elements, ten longitudinal and fifteen transversal borderlines, having four longitudinal and eight transversal over-fibers perleaf element, plus the additional ones near the sides as detailed above,is about fair in the rectangular arrangement. And in the oblique one,having eight over-fibers over the diagonal dimension of every leafelement on each one of the two oblique directions, plus the additionalones near the sides as detailed above, is quite as fair.

26. Definition of the angle by which the leaves open:

26a. The two neighbouring leaves, belonging to two adjacent leafelements and fastened to the 2 sides of a border, revolve or benddownwards by an angle A during the up-motion of the wing and form adihedral angle a=180°-2A between them (22). At the starting moment ofthe down motion 23 the dihedral amounts air and functions like a funnelfull of fairly compressed air, tending to push the two leaves apart, torevolve or unbend back to their basic position by default 25, and toremain there the whole time of the down-motion.

26b. The correct size of the angle is determined through trials: a)large enough so that the open passage, the one between the oppositeleaves (of a typical quadrangular leaf element) or the one left open bya standalone leaf (of either a triangular leaf element or a 1-leafquadrangular one), be large enough, not presenting an importantresistance to air passage, which would mean an important decrease inlift generated, and b) small enough so that, given the frequency of thereciprocating motion of the wings, the compressed-air funnel of thedihedral functions adequately, even in the unpropicious case of flyinghigh, where the surface effect does not exist.

26c. The cause of using under-fibers, disposed at the correct placeunder the borders with a divergence inwards to the leaf's center (cf18e. and 18g. above), is just to control this behaviour of the twojuxtaposed leaves, as has been detailed earlier (17b. above), or theleaves would give way to passing air, take velocity and come close toone another, even to meet; the angle A (21) would become larger than 90°(because the border between the two leaves has a certain width), andthis conduces to the leaves being incapable to open, being blown tocontact by up-moving air during the down-motion of the wing, which wouldbe an unfavourable situation; similarly unfavourable would also be theopposite situation, when angle A stays small because of insufficientopening of the leaves: air is not fully free to pass across, andpotential lift generation is not fully exploited.

27. Piezoelectric actuation of the wings in unfavorable conditions:

27a. There is an alternative way to rotate (in reality, to bend) theleaves down during the up-motion of a wing (to help open the passage,letting air pass across free) and up during the wing's down-motion (tocreate lift), for flight to be possible in difficult conditions, withstrong winds.

27b. This way is piezoelectric actuation; each leaf is made fromsuccessive membranes of piezo-electrically active material affixed toone another and stretched accordingly in layers; the actuating methodconsists in supplying electrical current to the upper, then to theundermost layer in order to bend and unbend accordingly; This waysecures leaf-control at every moment for the opening phase, for keepingopened, for staying in good contact with the under-fibers, and forclosing back.

27c. The leaves are fastened steadily at best (cf 16b. above) and aredesmodromically and fully controlled, with the option of being free tofunction as usual at other moments, when conditions (wind etc.) areagain propitious to normal flight. Under-fibers and over-fibers are notindispensable for piezoelectric operation, but they may still exist insuch an arrangement and provide extra security for control in anysituation.

C3 Flight (articles 1 to 17)

C3 1 to 2 Flight mechanics and commands

1 Mechanics of flight:

1a. Flight and changes in direction succeed through the reciprocatingmotion of the wings in radial form in a plane which is basicallyvertical but may also be inclined. As detailed (C2.1a. above), the wingseither move in insect-like mode, or in bird-like, in tweaked, inhovering, in floating, or in collective mode. The basic ones out ofthese 6 are the first and the second modes.

1b. In detail: For the insect-like mode, wings 1 and 4 movesimultaneously down while wings 2 and 3 move simultaneously up, then insuccession 1 and 4 move simultaneously up while 2 and 3 movesimultaneously down, then again 1 and 4 down while 2 and 3 up, and soforth, i.e. each one of the two pairs of diametrically opposite wingsmove simultaneously down while the other pair move up, next, in rapidsuccession, each one of the two pairs move simultaneously in theopposite direction, next they move again in their previous direction,and so on (cf C2.4b. above). For the bird-like mode on the other hand,the four wings move simultaneously: the pair on the left side movejointly between them, as well as the two on the right side: up, down,up, down, up, . . . (cf C2.4c. above). The insect-like mode beingconsidered more intricate (and the bird-like one a variation on it), itis described here more in detail.

1c. The up-and-down motion of a wing (35) is the sum of two partialmotions, as follows: a) A composite turn, which analyses as 2 turns: a1)A turn round a horizontal axis passing from point A (point of support ofthe wing to the body of the machine) and perpendicular to thelongitudinal axis of the wing, (while the transversal axis remainshorizontal) between two extreme inclinations up and down, at an angle bbetween them (33); this is the basic radial up-and-down motion of thewing for creation of lift force, rightly backed up by the further-downdescribed parallel up-and-down motion (b. below), a) for flying invertical direction: upwards and downwards, b) for hovering at a steadyheight in the air, and c) for adopting a particular movement, floatingin the air, designated as floating mode, whereby the machine stays inthe air without changing position (3. below). a2) a turn round thelongitudinal axis of the wing; this means that the transversal axis ofthe wing inclines forward (meaning that its front half-axis lowers whileits rear half-axis rises) or backward. Therefore, the compositeal-plus-a2 turn is in all a radial-turning up-and-down motion of thewing with its tranversal axis taking an inclined position, whichconduces to add a horizontal component (that is, to fly horizontally)onto a just-floating-in-the-air phase; in essence, to move at aninclination different to the vertical. b) A parallel transferup-and-down between the upper point and the lower one along the heightof the machine (34), thanks to a suitable mechanism, resulting in thesame effects as the al turn above.

1d. The a1 turn and the b motion can be in action one or the otherindifferently, since they are concurrent, or they can act together,resulting in enhanced operation. The a2 turn and the b motion can be inaction together, just like the composite a1-and-a2 turn, towards thesame results, plus a horizontal component. The 3 actions, a1 and a2turns and b motion, acting together, conduce to enhanced up and downflight with a horizontal component.

1e. It is to be noticed: the wing's support point A onto the machine'sbody combinedly c) allows a partial revolution round a horizontal axisperpendicular to the wing's longitudinal axis (33), d) moves up and downon a set distance along the height of the machine (34), and e)allows aswivel-like turn round the longitudinal axis of the wing. Combinationsbetween these three (c to e) contribute to (f to h): f) making moreworthy (for creation of lift force) the extreme part of the wing, nearthe tip C: through the al turn (33), not the b motion (34), that is,through the c revolution, not the d move; g) making more worthyspecifically the base of the wing, but also the whole of it on an equalbasis: through the b motion (34), not the al turn (33), that is, throughthe d, not the c); and h) succeeding in either floating in the air ormoving up and down, and/or flying horizontally, on demand: through the 3of them (2 turns and 1 transfer). Whenever there is reference tofloating in the air, vertical flight also stands to reason. and whenthere is reference to a horizontal component, flight at whatever azimuthalso stands to reason.

1f. In flight-turn a1 (33), greater lift is gained for a greater[turning angle b]-per-[time unit] ratio; but relatively less force isgained in the two extreme moments of the course of angle b (at the startand at the end of the down-motion of the wing) due to the wing'sinclination to the vertical at those moments (specifically, due to thediminished rate of the vertical component); and this effect is moreemphacised the wider the angle b is. Also in parallel motion b, greaterlift force is gained for a larger [parallel transfer]-per-[time unit]ratio; but this entails a greater move along the height of the machine,finally a greater height of the machine, which goes against theimportant condition of inconspicuousness (C1.1d. above).

1g.In combined a1-plus-b flight (35), these 2 objections (but) (1f.above) are partially attenuated and the lift force is gained more easilydue to simultaneity of the 2 actions.

1h. The combined a1-plus-a2 move yields a positive-looking flighteffect: the machine flies in horizontal mode (C1.2b. above), thetransversal axis of the wings is slightly inclined (close to thehorizontal), the reciprocating motion is in a plane slightly inclined(close to the vertical), and the horizontal component of the lift forceconduces to the drone flying horizontal, its body set in horizontalmode, not an inclined one.

2. Flight commands:

2a. Based on the foregoing, various phases of flight and changes offlight direction are possible. Commands can be given to the differentmechanisms to a) set or change the speed and the frequency of wingmotion, b) or change the inclination of the wing's transversal axis, andc) actuate at a different degree the wings between them on whichevermotion or turn.

2b. The commands either originate in the AI unit of the machine, obeyingto an inborne programme (or to a broadcast one), or are transmittedthrough RC. Whatever the case, the commands translate to electricalsignals of mensurable volume. The right volume, coordination andsequencing of the signals are found through experimental trials, takinginto account the route desired, hindrances en route, winds andwindshear, thermals on the rise, and other environmental conditions. Aninborne expert system takes the information into the AI unit toelaborate on the signals, indulging for change and improvement in caseof further specialisation of the commands.

2c. Concerning specifically the magnitude of the lift force gained atthe start and at the end (1f. above) of every radial (33) down-motion ofthe wing (ac.a1. above), one can count 3 adverse situations: inertia atthe start of the motion, incapacity to instantly stop at the end of themotion (inertia, again), and a diminished vertical component of the liftforce created at the start and at the end of the down-motion of thewing. In order to alleviate this effect, a special arrangement of thetime lapses of motion is determined: a short moment T before the end ofthe down-motion of a couple of diametrically opposite wings, thedown-motion of the other couple starts: a moment-before-synchronisationeffect, designated as m.b.s., engageable at will.

2d. In this way, the addition of the two moderate vertical componentsmakes for continuity of the motion without irregularity, in case such anirregularity is not desired, for example when taking photos or video:the straightness of flight direction is iconically enhanced; while innormal flight this irregularity (i.e. iconic hiccups up and down in themotion of wings and machine as a whole) may be desired, because itenhances the inconspicuousness of the machine, the important condition(C1.1d. above).

2e. This m.b.s. effect reflects on the up-motion of the wing couplestoo; it makes for a more-natural looking flight, but in this it has noconsequence on the creation of lift. On the other hand, the m.b.s. doesnot apply to the bird-like mode of flight, where the four wings movesimultaneously.

2f. The duration of the m.b.s.-bound moment T is determined throughtrials for every possible combination of external conditions andnecessities of flight; it is stored in the AI unit to be applied ondemand.

2g. Notice on m.b.s. effect (2c. above) and on the notion of lift force:The lift force generated by the wing (the l.f.w.) is a forceperpendicular to the plan of the wing at every moment, while the liftforce acting on the machine (the l.f.m.) is the vertical component ofthe l.f.w., so: the m.b.s. effect tends to overlap the twoextreme-moment [l.f.w.]s in order to momentarily maximise the l.f.m. andto smooth the diagram of its intensity versus time.

C3 3 to 11 Flight Phases and Modes

3. Floating in the air:

3a. The wings move in a vertical plane, both radial and parallel (1c.above). The magnitude of the lift force, controlled as needed, equalsthe weight of the machine, with no surplus component vertical orhorizontal for transfer or turn. This is the floating mode (cf 1c.a1.above).

3b. Micro-adjustments are made depending on perceived (through sensors)external conditions. The stability of the position also is controlled bya six-axis inertial system (designated as six-axis i.s.) and/or by GPS.If no specific requirements are imposed, the preferable flight mode forfloating in the air is the insect-form one: it offers the positionalstability needed for cameras etc.

3c. Floating-in-the-air is the starting phase for performing each of theflight modes and handling methods described hereafter. The floatingmode, which is one of the seven flight modes (C2.1a. above), may beperformed in whichever of the following three ways, or modes, out of theseven ones: insect-like, bird-like, or teaked. A particular case whilefloating in the air is flight in captivity, or captive mode (15. below).

4 Ascent and descent, uniform motion:

4a. It is realised through controlled increase/decrease of the liftforce compared with the weight of the machine; a) first, a slight liftincrease for takeoff and starting flight upwards, then a moderation ofthe lift force in order either to keep floating in the air (at a steadyposition) or to keep a steady course upwards, enough for overcoming airresistance if ascending very rapidly, with no horizontal component orturn; b) then, a slight decrease in lift force for starting descent,followed by a moderation in its magnitude to keep a steady course indecending; c) finally, some slight, controlled increase in lift force(to stop descent), gradually fading for gentle landing, helped by eitherGPS or height sensors.

4b. The increase and decrease phases are effected through increasing orsmoothing down respectively the intensity (cf 1f. and 1g. above) and thefrequency of moving wings accordingly.

4c. Specifically in takeoff and final landing, proximity of the ground(or whatever the landing place may be) results in inability to fullyextend the wing motion (in its lower extreme) to the same degree as itwould be in the open air; so the intensification of the motion is out ofquestion and one can only rely on increasing its frequency; it growsmomentarily to even triple the regular frequency for normal ascent/descent.

5. Straight course, horizontal or inclined, uniform motion:

5a. It is realised by combining the preceding commands, for the verticalflight component, with the controlled swivel-like turn of each winground the longitudinal axis (1c.a2. above).

5b. First, starting from a float-in-the-air phase, the 4 wings undergo atransversal inclination downwards: the transversal axis of each winginclines downwards, with the under-side facing towards the back (i.e.the front half of the transversal axis turns downwards, and the backhalf upwards), and the wing motion/frequency intensifies slightly, sincethe vertical component of the lift force decreases due to theinclination; the horizontal component promotes forward transfer, andhorizontal motion starts; then, through some moderation of the liftforce and/or a slight decrease of the angle of inclination, thehorizontal course is sustained. The body of the machine keeps inhorizontal position (horizontal mode) and its longitudinal axiscoincides with the horizontal line of flight.

5c. For a straight course on an inclined direction, the combination ofthe horizontal motion with an ascent or descent course of flight (4.above) results in flight at whatever azimuth. The machine is in inclinedmode and the longitudinal axis coincides with the line of flight.

5d. The four wings keep moving at the same transversal inclination,broadness of motion and frequency. The active appendages (cameras etc.)and passive attachments are kept in their standard arrangement.Coincidence of line of flight and machine longitudinal axis isrecommended in case of low flight (parallel to ground relief), ininconspicuousness.

5e. Changes in inclination of the ground is accompanied each time by anequal change of the line of flight, through a brief, temporary, twofolddifference: in broadness of motion and/or in transversal inclinationbetween each wing pair's two wings, diametrically opposed between them,but keeping the total amount of lift force steady; for example, toincline downwards, a brief such twofold difference between the front andthe back wing of each pair is enacted, with the front wing transversallyinclined downwards more than the back wing, and/or the back wing movingmore intensely in broadness of motion for a short duration.

6. Acceleration and deceleration in the flight modes 4. and 5. above: Itis realised through a brief twofold change, increase or decreaserespectively, of the broadness and/or the frequency of wing motion,followed by a slight moderation of them, but keeping them higher thantheir initial value. Inclination of the transversal axis of the wings(to the front for acceleration, to the back for deceleration) also helps(C2.3. above). This is continuously controlled by the inborn 6-axis i.s.

7 Turn round the vertical axis, uniform motion:

7a. Initiating the turn: A turn round the vertical axis, or yawing, isrealised through briefly imposing an opposite transversal inclination toeach one of the two wings of each pair of diametrically opposed wings,keeping each time the total of the lift force steady. For example, wing1 (front left) inclines tranversally upwards while wing 4 (back right)inclines tranversally downwards, and the machine turns left; next, wing2 (bach left) inclines tranversally upwards while wing 3 inclinestransversally downwards, and the machine keeps turning left; and so on.

7b. In reality, the longitudinal axes of the wings are not disposedparallel to the transversal axis of the machine, but rather close tooblique lines, at 45° to this axis, since the two wings on each side ofthe machine do not sit close or parallel to one another, but they aredisposed in an “open” configuration, distant and at an angle from oneanother, and this is favourable for stability in flight; so, thetransversal axis of a wing being oblique, the horizontal component ofthe lift force created by each wing is disposed at an angle to thelongitudinal axis of the machine, not parallel to it.

7c. Sustaining the turn: The turn is sustained by moderating thedifference in transversal inclinaation of the two wings of each pair,just in order to overcome the resistence of air to the turn.

7d. Finishing the turn: Through briefly imposing to each wind theopposite transversal inclination to that imposed initially.

7e. The effectiveness and the steadiness of the move are controlled byboth the 6-axis i.s. and the GPS unit.

7f. In the case of bird-form mode of flight, the two pairs (left andright) of wings working together undergo the same difference intransversal inclination as described above. The four wings act as a pairof double wings. For example: To turn left, the pair at left has its twowings incline transversally upwards while the pair at right has itswings incline transversally downwards, for turn initiation, and so onaccordingly for sustaining and finishing the turn.

7g. In order to look more natural, in this case the front left wing hasits up-down range of motion slightly restricted, leaving the upper partof this range active, and the back left wing respectively has the lowerpart of its motion range active; for the right pair of wings, theinverse is valid. In this way, the 2 wings of each pair have anappearance of a continuous line of wing extremes and don't lookunnatural.

7h. The restriction cited above results in slightly diminished liftforce; in exchange, the frequency of the motion is intensified a little.

7i This turn takes very little energy to take place in the case of amachine in verrtical mode, due to the gyro-momentum of the machine beingof low value.

8. Turn round the longitudinal axis, uniform motion:

8a. Initiating the turn: A turn round the longitudinal axis, or rolling,for eample to the right, has the left wing of each wing pair going upeach time the pair comes to action, and the right wing coming down, andthen the other pair is activated, left wing goes up, right wing down,and so on. The turn is realised through imposing a brief, temporaryincrease in motion broadness to the wing expected to ascend, each time apair of wings is moving, and at the same time an equally brief decreasein motion broadness to the one descending. If the drone flies at adistance from eventual onlookers, by flying high or otherwise, thefrequency of wing motion can be raised for the ascending wing andreduced for the one descending. Alternatively, the descending wing maybe left idle for a while, not moving at all. In any case, the total ofthe lift force created by each pair of wings remains the same.

8b. Sustaining the turn: The turn is sustained by moderating the actionsimposed on the wings. This phase is very brief and can be omitted.

8c. Finishing the turn: Through a brief, controlled imposition of theinverse action to that initially imposed on each wing.

8d. This turn takes very little energy to take place in the case of amachine in horizontal mode (cf 7h. above), due to the gyro-momentum ofthe machine being of low value.

9. Turn round the transversal axis, uniform motion:

9a. Initiation of the turn: The turn round the transversal axis, orpitching, for example forward, that is to take a descending course, isrealised through imposing a brief, temporary increase in motionbroadness (that is, an increase of lift force) to the back wing of eachpair of wings at the moment the pair is moving, and at the same time anequally brief decrease in motion broadness to the front wing of thepair, this front wing expected to go down first. The reverse goes forthe ascending manoeuvre on the machine.

9b Pitching downwards (and conversely upwards through imposing reversecommands) can be effected faster through additionally giving the commandto front wings to slightly turn transversally forwards down and to rearwings to equally turn forwards up: the nose of the drone is brought downvery quickly.

9c. Sustaining the turn: The turn is sustained by moderating the actionsimposed on the wings. They may be of a low value, just to overcome airresistance to the turn. In any case, the sustain phase is of short induration.

9d. Finishing the turn: The turn comes to an end through imposing toeach wing the reverse of the initially imposed action.

10. Notice on 8. and 9. above:

10a. In performing the turns round the two axes, longitudinal andtransversal, this is effected through brief, oblique (7b. above),blow-like turns simultaneously round the two axes, with more energygiven round the longitudinal and the tranversal one, respectively; withtwo consequences:a) on the one hand, the important condition ofinconspicuousness (C1.1d. above) keeps being observed: the wings undergoblow-like motions and turns, the appearance is natural and very limilarto the one of a flying insect/bird, so inconspicuousness ismaintained;b) on the other hand, this coming and going motion does nothelp in steadiness, and stability of the cameras and other sensitiveequipment suffers; so some means for stablity of the machine, or onlyfor the camera, or just the lens, is indispensable.

10b. The inconvenience described above, the coming-and-going inducedmotion from the wings, can be overcome by adopting the tweaked mode inflight, described in the preceding (cf C2.6a. above): a) An articulatedbend is imposed on the wing's central line ABC at point B, at an anglefluctuating at will, making it a broken line. The two diametricallyopposed wings, say the pair one and 4, thanks to their bends (at the Bs)bring their two centres of air resistance towards places C1 and C2 juston either side of C′, the machine's centre of air resistance (instead ofat the basic position of the wings, oblique to C′, roughly at a 45°angle), making the flight quite bird-like with only two wings (insteadof four) being operative at any one moment.

b) Next moment, wings 1 and 4 straighten up at their Bs, and retreat totheir basic postures (oblique at 45° to the longitudial), while the pairof wings 2 and 3, sustain at their Bs an equal bend as the above,bringing their centres of air resistance unto the same points C1 and C2as above c) And so on, wings 2 and 3 straighten back and wings 1 and 4bend again, etc. As stated in the foregoing (C2.6c. above), the tweakedmode is useful for certain flight manoeuvres, but the configuration isnot robust enough, mechanically.

10c. For this reason this flight mode is recommended for flight instraight course at uniform speed (5. above). In case it is desired tostop the straight course rapidly and convert to steady floating in theair, the tweaked mode (quite bird-form, as stated above) is interruptedand simple insect mode is adopted by straightening the B-bends of thewings and keeping ABC axes straight: the machine continues operating bypairs of diametrically opposed wings, but from now on the wings operate(not any more at their B-bended positions on both sides of the centre ofair resistance, but) at their normal positions, at 45° oblique to themachine's centre of air resistence.

11. Composite turn round more than one axes, motionuniform/accelerated/decelerated: It is realised by effecting the abovedescribed actions on the wings, together as needed. Flight takes placewith turns round whichever of the 3 axes, with the speed staying fixed,increasing, or decreasing.

C3 12 to 17 Commands to Change Flight Direction

12 Workings to alter direction:

12a Given the different abilities of the machine to initiate a course offlight and to turn round its three axes, described previously (toabove), the change of direction can take place in one of the twofollowing ways:

12a.1. The standard way: the body of the machine turns round one or moreof the three axes as described in the foregoing, and the flightcontinues forward in the new direction and inclination.

12a.2. The rapid way: the 4 wings bring about an instantaneous change offlight course, with the body of the machine still in its initialdirection and inclination, operating all 4 together, with all their 3possibilities: radial turn up-down, transversal inclinationforward-backward, and parallel motion up-down (cf 1c.a1., 1c.a2., and1c.b. above), and with the possibility to apply commands in varyingintensity to the different wings (7a., 8a., and 9a. above). After thisinstantaneous change of direction/inclination of the flight has beeneffected, the commands to change the direction of the body of themachine are applied and the longitudinal axis of the machine coincideswith the direction of flight from that moment onwards.

12b. The standard way is easy to be operated and changes the course offlight smoothly, while the rapid way, complicated as it is, isrecommended for pressing instances when changes need to be effectedurgently.

12c. In the following, description of different detours/manoeuvres thatthe machine can execute to perfection, executing commands to changefoight direction, is done: a) flight to escape/to survival, in 13.below; b) flight taking advantage from ascending thermal aerial masses,in 14. below; c) flight in captivity, in 15. below; d) flight low, in16. below; and e) obstacles avoidance en route to target, in 17. below.

13. Flight to escape/to survival:

13a. In case a sudden blast of wind occurs, the drone may take a turnround one or more of its 3 axes, or may stall or fall into a spin; ormay enter whatever other condition of loss of balance and of control.This can also result from launching a small weight in the course ofcertain missions, or from receiving a blow.

13b. Such an instance is perceived by the inborn 6-axis i.s., andthrough some suitable software commands can be given to cope with theloss of control: a) to take composite, opposite turns to those thesix-axis i.s. detects, and b) to lift the four wings to a positionhigher than their standard one, the highest in the range of theirpossible motion (C2.7c. above), in order to function like a parachuteand to self-redress.

13c. The self-redress command is granted priority over the othercommands and ceases function as soon as the six-axis i.s. detectsrestoration of balance. It is quite instrumental in some circumstances,to restore lost or just disturbed horizontality (cf C6.5e. below). Thesensors of the inborn AI unit measure the parameters of flight, to befed to the system, with enough frequency, not less than 5/sec in regularconditions; in case of perceived instability, the frequency rises to noless than 25/sec, then, after balance is restored, comes down again toits regular rate.

13d. In case of bad weather or a perceived danger whatever, the droneflies low, using the GPS unit, with satisfactory inspection of thesurrroundings. The relief of the ground and the height of the course offlight are fed to the system with enough frequency; the relief may bebroadcast to the inborn unit as it passes from a region to another, orit can be fed in advance for each region the respective mission willdelve in.

13e. In this way the machine can survive an adverse situation byoverflying a torrent, a ravine, a river's or a valley's bed, or aclearing in the woods.

13f. In case 2 flying units, e.g. a machine and another flying unitwhatever, follow same-altitude flight courses converging, shortly tocross, a command is given for flight by priorities, followingregulations in power, changing course well ahead of course intersection.

13g. In case of frontal (or quite) encounter with another flying unit,trial commands are given to the wings for escaping collision throughdiverging the flight course: the software, a much lighter version toTCAS, composed for drones, gives random directions to point to lowright,straight ahead, front up, just left, etc., with rapid feedback asof the reactions of the incomer, and corresponding reply move. There mayalso be a relying intervention from a terrestrial control centre to takeover following the regulations: a sense-and-avoid system, created fordrones.

14. Flight taking advantage from ascending thermal aerial masses: Athermal mass is detected by an infrared sensor and a suite of commandsis determined either automatically or by RC and given to the wings inorder to approach and use the ascending mass for economy in consumption.In following successive thermals, situated on the course of the machine,quite important savings can be achieved at these moments, particularlyif the motor stays idle during these and only starts operation in themoments between them.

15. Flight in captivity: This is the captive mode. It is realised whenthere is a tie (a rope, a special fiber, or a wire) connecting themachine to a base. It may be either floating in the air (3. above), in asteady place in relation to the ground and the surroundings, or flyingparallel to the base, accompanying it, in which case it is sort offloating in relation to the base. The tie may transmit data by itself,or may have a transmitting medium wound over it; it may connect eitherto the ground, whatever the ground base may be, or to a navigablevessel, even to a machine of the present type floating on the water.Flight in captivity is dealt with at the chapter on applications (C6.6.below); the particular case of a drone flying captive to a boat or asubmarine is included there (C6.6c. below).

16. Flight low: When flight in low height is needed, following therelief of the region (cf C6.4j. below), the commands described in theforegoing (13d. above) are to be considered. They are valid for flighton straight course, horizontal or inclined, uniform motion, alreadydealt with (5. above).

17. Obstacle avoidance en route to target:

17a. A drone flying towards a target is likely to detect an obstaclewhatever (an object, a mass, or a wire) that stays still, does notconstitute a target, and must be flown around in order to continue asdesired.

17b. The existence of the obstacle on the line of sight of the sensorsmay be due to the fact that the machine is carried away from its initialcourse due to a sudden blast of wind or whatever other cause.

17c. Sensors detect the presence of the obstaacle and determine thelargest dimension of its mass, its length; a suite of commands is givento the wings in order to deviate from the course of flight and flyaround the obstacle in a plane perpendicular to the length detected, atno less than a set distance from the obstacle, and then to go onfollowing one of two alternative courses:

17d. either perform (approximately) a quarter of a circle round theobstacle and then, after focusing anew on the target, continue flightcourse towards it, its orientation and azimuth being slighly altered dueto the deviation performed,

17e. or perform half a complete round about the obstacle and thencontinue on the initial route (orientation and azimuth) towards thetarget.

17f. The first alternative weighs better in case the way to the targetis anticipated to be free of other obstacles, while the second one ispreferable in case many obstacles are detected in the vicinity andinsecurity rules on whether the target stays visible after thedeviation.

C4 Approach and Adhere (articles 1 to 11)

1 General:

1a. The machine is designed for operating and performing work at everyplace, every moment. Not only at the time of flight or while inadherence at a place, but also while approaching an object or a surfaceto adhere to and to stay still on it, and while disengaging and pullingoff the place. This ability makes the machine instrumental and unique,able to perform work in situations no other flying machine can confront.Applications described in a subsequent chapter (C6. below) are onlypossible thanks to the machine's ability to bring about such difficulttechnical operations.

1b. Potential objects and surfaces for adhering or clinging onto areconsidered, and the following case-specific procedures are detailed atthe following articles: the ground (horizontal or inclined), at 2.below; water surface and underwater, at 3. below; wall of a building, at4. below; corner of a building, at 5. below; other vertical surfaces andobjects, at 6. below; branch of a tree, at 7. below; wire, horizontal,at 8. below; and wire, vertical, at 9. below.

1c. According to conditions and needs, some corresponding epuipment isattached round the body of the machine, taking care to keep it out ofthe way of flying apparatus (wings) and of camera vision. Equipment maybe appropriate for one or more adhering cases, for simplicity's sake notfor many of them, in order to save on weight, bulk and complication.

1d. Care is taken during the approach and the adherence precedures, notto let motion irregularities (“hiccups in flight”, C3.2d. above) spoilthe steadiness of the flight; for this reason the m.b.s.(moment-before-synchronisation, C3.2c. above) comes into effect.

1e. After approach, adherence and immobility, a mechanism folds up thewings, in order to contribute to inconspicuousness and to stay out ofthe way of cameras and mission-specific epuipment (taking care not tolet them get entangled with any attached peripheral protective devices,cf 7d. below); possible ways to fold up are upwards, down, or sideways:the wings coupled by pairs, the two on the left bound closely at theirlength, also the two on the right. Next and last, the supportingelements, having kept space free for wings to move, retract to minimumdimensions to upgrade adherence (by minimising the bending moment) andto help in inconspicuousness.

1f. Ultimately, the disengagement phase takes place: first, supportelements (legs, horizontal pistons, etc.) extend to adequate size forconferring free space to the wings, next the 4 wings unfold to operativehorizontal position (paying attention: clear of support elements andpotential peripheral protective devices), then flight starts (in captivemode in the beginning), the case-specific genuine process ofdisengagement (described in the case-respective ten following articlestwo to eleven) is activated, the flight turns floating and not captiveanymore, and finally the drone flies away free.

1g. A first estimate of the time it takes to complete the adheringprocedure is 20 sec, for caution's sake, but disposing bespoke elementsof the equipment described in the following articles, and keeping atight timetable, it can come down to almost 1 sec. As for the time ittakes for disengagement, a first estimate is 3 sec, but keeping a tighttimetable will help reduce it to 0.3 sec or just a little longer. Aspecially prepared set of elements can help accomplish the first timereduction: the machine disposes telescopic, flexible legs extendingtowards the place to cling to, for achieving a smooth impact; also otheradhering material like magnets and glue, ready on impact to instantlysecure adherence (cf C6.4e. below), prior to activating thecase-specific processes described in the following articles.

1h. The following articles two to eleven refer to the variousapproach/adhere modes.

2 Ground:

2a. The machine approaches vertically or on inclined course towards thelanding point, decelerating as described in the foregoing (C3.6. above),corresponding to the decreasing height over the ground, and taking carenot to hit the ground but to land gently in the final touch.

2b. The equipment carried on in the circumstance may be bulky andeccentric, resulting in unsteady rest, non-horizontal. To mitigate, 3adjustable-height telescopic legs are attached underneath, to standhorizontal on any ground inclination automatically or through RC (cfC9.4. below). If landed on pasture-land, the legs are settled in heightjust above the grass or eventual obstacles so that camera vision staysfree.

2c. In the case of high inclination of the ground (in case of a cliff),at the moment that the machine approaches, still flying, an arrow isshot perpendicular to the surface; it is connected to the machine bysome filament let off from an inborn spool, which rolls off as themachine is free to fly down to the desired height along the ground (thecliff), where it stops, it unfolds 3 telescopic legs stretchedperpendicular to the surface, and stops flying, staying idle but fullyfunctioning.

2d. In case of landing on moving sand, the 4 wings lay horizontal inorder to avoid going down. For liftoff, the observation (C3.4c. above)about imperfect functioning of the wings just over the ground does nothold here; due to a mild resistance from the sand, at the firstascent—descent of a wing pair, the other pair staying on the sand, liftforce is easily created and ascending flight takes place.

2e. In case a wind blow overturns the machine on the ground, aprogrammed, highly rapid (knock-like) shaking off of the two wings ofone side of the machine can help it stand upright and regainhorizontality (or an alternative, equally rapid shaking off to one sidethe 3 telescopic legs presented above, now standing upright, at the sametime gathering together to shrink their length and transfer theirmomentum to the machine's body, can help attain the same effect).

3 Water surface and underwater:

3a. The machine lowers in flight till touching the surface (cf C6.4dbelow), the body is sunk to a degree, kept from sinking by its buoyancy,the upper part staying out for the camera(s) to work. Buoyancy issecured by 3 small balloons annexed in the perimeter, which inflate atthe opportune moment in order not to be visible in other times, inflight. The upper surface of the machine is coloured slightly blue. Tomitigate instability due to waves, attachments operating in the airconnect to the body through a gyroscopic or other inertial mechanism.

3b. In case the machine is meant to operate motionless on moving water,for example on a stream, two actions are performed, for stabilisationand for anchorage respectively: a) the command is given to the 4 wingsto operate in a way to keep horizontal, the currents in the waternotwithstanding, courtesy of the six-axis i.s., and b) an arrow is shotdown to reach the stream bed, the drone still floating in the air overthe water; it is connected to the machine by some filament let off froman inborn spool, equal to the one described in the foregoing (2c.above), which unrolls as much as needed to keep the machine captive inthe desired place and secure at the surface; after that, the machine canstop flying and stays inert on the surface.

3c. In case the machine operates at the surface of a different liquid,specifically lighter than water (e.g. petroleum), the low density istaken into account to determine the volume of the balloons.

3d. In case it operates at the bottom of a volume of water (at sea, astream, a water tank), provision is made for a suction cup (either apassive one or a small centrifugal water-sucking one) to secureadherence to metal or stone, and for a hook or an arrow to hold on sandsurface at the water bed.

3e. If expected to operate while swept away on the water, the machinehas an RFID or other localisation unit to be retrieved in time; if notsuccessfully, or if not thus programmed, the machine, after its work isdone, destroys itself by making use of the inborne charge.

3f. For take off and fly airborne, starting from manoeuvering inside avolume of water, a) the machine heads towards the surface using a smoothmovement of the four wings, b) once at the surface it inflates theballoons to stabilise itself, c) next the balloons inflate more thanregular and the body of the machine rises enough for the wings to fullyoperate and lift off the water, d) then once in the air the balloonsdeflate (cf C6.5b. below).

4 Wall of a building:

4a. The machine, disposed in vertical mode (6), approaches indecelerating flight and flies in floating mode close to the wall 39.

4b. In its upper part, it has a thin horizontal, passing through,metallic piston (42) with a mechanism to extend it backwards andforwards on demand; at the piston's rear tip (the one towards the wall)there is a small receptacle (43) with a) a quantity of glue material, b)a heating device for the glue (46), and c) a mechanism for a small dropof the glue to flow out under pressure from the lower end of thereceptacle into a slim, horizontal, bored-through needle (44); theneedle disposes a) a washer (45) at its rear end, holed at its center,with its rear surface parallel to the wall, b) a heating device for theneedle (47), and c) a heatingdevice for the washer (47′).

4c. In its lower part, the machine has two thin horizontal metallicpistons on its two sides (48), each with a mechanism to extend itforwards and backwards on demand. (Alternatively, instead of the twopistons there may be two thin metallic legs, each on one side of themachine, revolving round its support on the machine's body in ahorizontal plane. The two legs are part of the three-leg systemdescribed in the foregoing, 2b. above, for supporting the machine on theground.)

4d. At their backwards-extended place, the 3 pistons (the one on top,the other 2 on the lower part) constitute a 3-point (triangular) supportbase for leaning on the wall, (Alternatively, the upper piston and the 2legs lower down constitute a similar triangular support base.) In orderto hold firm the weight of the machine while it being “hung” in a wayfrom the glued point at the upper piston's needle tip (the other 2supports, the lower pistons/legs, being simply compression rods), thecompound fixture of the upper piston and needle, a cantilever inessence, is sturdy enough to withstand the bending moment at every pointof its composite length, and particularly:

A at the base of the needle (44′), where the cross section of the needleis expected to withstand the local bending moment: the total weight ofthe machine (body, mechanisms, and accessories) times the length of theneedle (44), and

B at the supporting point of the piston (the rear side of the body)(42′), it being in its extended position, where its cross section isexpected to withstand the local bending moment: the total weight of themachine times the composite length of the piston extension plus theneedle (42, 44).

4e. Once the approach has taken ploace, for adherence to be effected, a)the machine appproaches closer to the wall (39), b) at the same time theupper piston (42) is driven backwards, so that the washer at the tip ofthe needle (45) comes with all its surface in contact with the wall, andc) the two lower supports (pistons or legs) (48) also are drivenbackwards to get contact with the wall.

4f. Right after this, a) the heating devices (43, 47) warm the gluereceptacle (with the glue material in it) and the needle; b) thepressing mechanism squeezes a drop of the (now warm) glue material topass through an orifice at the lower part of the receptacle (44′) intothe needle-long bore and through the hole of the washer (45), and tospread between washer and wall, in all the washer's surface, where c)the small quantity of the warm glue material cools instantly andsolidifies, due to the low temperature and the mass of both the washerand the wall of the building as a whole, d) finally, the machine findsitself leaning on the wall in a stable three-point configuration, withthe washer firmly keeping it glued to the place, preventing it fromfalling off; the drone adheres steadily on the wall and the motor ceasesflight e) Subsequently, the four wings (10, 11) move into their foldedposition (49), the three supports (upper piston and two lower supports,either pistons or legs) retract a bit, and the machine finds itself inidle position closest to the wall, inconspicuous, and firmly glued inplace.

4g. Disengagement and leaving the place, after the mission is completed,is again a composite action:

The 3 support pistons/legs extend a bit forwards (away from the wall),till attaining their maximum operational length, the body of the machinefinds itself at a convenient distance from the wall, the 4 wings unfoldto their regular extended horizontal position (10, 11), and the motorstarts flight in floating/captive mode, B) the heating devices (47, 47′)heat the washer and (additionally) the needle, so that the glue warmsand mollifies, C) the drone flies away free, the upper piston (42) isretracted in from its backward position, and the 2 lower pistons (48)are equally retracted forwards (or the 2 legs revolve horizontally totheir idle position).

4h. Alternatively to the B part above, for an instantaneousdisengagement/departure, the rear tip of the upper piston, firmly boundto the machine, detaches from the compound outfit [gluereceptacle-needle-washer] (43, 44, 45), leaving it in place with a smallcharge for eventual self-destruction, and the drone flies away,subsequently retracting piston(s) and/or legs (42, 48).

5 Corner of a building:

5a. The machine is well prepared for approach and adherence onto aright-angle corner of a building, which is a particular case of adheringto a building's wall. In this case the drop of warm glue material,through the needle-and-washer fixture, is either a) applied to thecorner exactly, the washer being of an angular form, folded (at itsvertidal diameter) to a right angle facing the building's corner, theangle's edge being vertical so that it adopts the vertical edge of thebuilding, orb) applied to one of the corner's sides, at a poing closestto the edge of the building, the washer being flat, at an angle to theneedle accordingly.

5b. Adherence to a building's corner offers a double advantage over thewall-adherence case: a) The machine being in vertical mode (6), the fourwings extend from the body at approximately right angles between them,for not interfering between them, and for contributing to stability inflight; given this, when approaching a building's corner, the wingsdon't hinder the body from coming closest to the corner, so helpinginconspicuousness to take effect, the important condition (C1.1d.above), at the same time keeping short the upper piston (42) and the twolower supports (pistons or legs) (48), while, when approaching a wall(the general case), the three supports (42, 48) have to be longer andundergo the retract—extend process, for the wings to dispose vital spaceto move. b) The machine has a wider field, close to 270°, for the camerato watch, instead of about 180° in adhering to a wall.

5c. The corner of the building may be wider than the former case, forexample a 120°-angle corner in a hexagonal building, in which case anequal angle is anticipated for the configuration of the two lowersupports: either a) the two revolving legs are adjusted to surround thecorner, or b) the two pistons (48) are arranged for adopting an angle ofthis value. As for the upper piston, similarly to the right-angle case(5a. above), the washer at the tip of the needle: is either a) of120°-angular form, for the exact-at-corner application of the glue, orb) flat, at an angle to the needle, for the close-to-the-edgeapplication of the glue.

6 Other vertical surfaces and objects:

6a. In case of adhering to a surface where application of glue is notadvisable or at all possible, a suction cup is used. In case the passive(static) suction does not work, due to rough surface for instance, asmall vacuum device for aspirating suction enters service.

6b.In case of adhering to a post, to a pillar (from iron, wood, or othermaterial) with a smooth surface, the same procedure as that for a walltakes place. Specifically for vertical objects from wood 40, at the tipof the upper piston 42 there may be a perforating device (50. 51)instead of glue and needle, for better effect.

6c. In case of an iron post or column, or other vertical surface made ofiron, the glue-drop method put aside, adherence can be effected byactivating an electromagnet, though this consumes a certain current inorder to magnetise (cf C8.3. below).

7 Branch of a tree:

7a. The approach to branches' or trunks' vertical surface is effectedquite like in the previously described variations (4f. and 6b. above);another method is described in the following (8g. below) for hangingfrom thin and dense flora elements. Here is an integral method to adhereto a horizontal branch, starting by flying to a point above the sidethereof and, once there, flying in floating mode. From the lower part ofthe machine a length of ribbon unspools and is let down with a smallweight at its tip; the ribbon's side, facing the branch, is coated witha gluing gel (which is being let free from a muzzle, as the ribbonunspools, to coat it) for adherence through its anchoring effect on thebranch side's rough points. (Alternatively, a ribbon with accordinglycoarse, high-friction surface can be used.)

7b. Next, the machine sets in horizontal flight, crossing the spaceabove the branch to a position over the other (the second) side of thebranch, and lowers to a position level with the convex part of thissecond side, appropriately unspooling the ribbon to (partly) embrace thebranch's perimeter, and flying in floating mode close to the side of thebranch.

7c. So, the lower part of the machine stays captive to the upper part ofthe branch through the extended ribbon (at an oblique position). Themachine disposes a triangular support configuration: three horizontalpistons (one in the upper part, in central position, with glue, needleand washer, and two in the lower part, on the two sides) protractingtowards the branch, as in the wall-adherence case (4b., 4c. above), withthis difference: the washer on the tip of the upper piston rotatesfreely at the tip of the needle to adopt the inclination of the ribbon;it touches the back side of the ribbon, and the squeezed-out drop ofwarm glue cools and solidifies as soon as contact occurs between theribbon and the washer). The resulting support configuration details as 3horizontal supports, of which the upper one is under tension and the twolower ones are under compression, plus one more tension (the ribbon) inoblique position, completing the lattice work for resistance.

7d. Next, the motor ceases flight: an inconspicuous drone adheres readyfor operation. A dodecahedral device, assembled to protect helmet-wise360°-round and keep clear of the foliage, then shrinking expertly tofree the camera's vision range, can prove helpful.

7e. To disengage from the place, the drone starts flying captive,floating; it heats the glued washer, retracts the 3 supports, flies inreverse to the previous procedure round the branch, sweeps/unclings theribbon from the rough surface, winds it back on its reel, and flies freeaway.

Alternatively, for an instantaneous disengagement and departure, a) theunspooled length of the ribbon is cut off (making use of a cuttingdevice at the lower part of the machine), b) the rear tip of the upperpiston, bound to the body of the machine, detaches from the compoundoutfit [glue receptacle-needle-washer], leaving it in place with a smallcharge for eventual self-destruction (cf 4h. above), and the drone fliesaway, subsequently retracting pistons and/or legs.

7f. In case the drone approaches a vertical branch or a tree trunk toadhere to, a) either its surface is smooth, and the procedure ofadherence to a wall (4. above) is followed, b) or it is rough, and theprocedure of adherence to a wooden post (6b. above), using a penetratingdevice at the tip of the upper piston instead of the glue receptaclewith its ensuing attachments, is followed.

8 Wire, horizontal:

8a. Set in horizontal mode (5), the machine flies below the (horizontaland stretched) wire (58) and approaches it from the underside, where itsets in floating mode just under the wire, at a vertical distance suchthat the wings remain free to fullly operate, and at a small distancehorizontally as to diverge slightly from a just-under-the-wire position.

8b. It disposes in its upper part an upright passing-through piston(59), with the direction of its stem passing through the machine'scentre of gravity, and a mechanism to protract it upwards. At thepiston's upper tip there is a four-point hook (60): it has four oblique,reverse-directed needles (56), folded around the piston stem, whichdeploy by revolving round the piston tip towards positions at 60° anglesbetween them and inclined each at 45° to the piston. The form of thecontraption is one of a quadrilateral pyramid (56), in horizontalposture, with the tip of the piston in the role of the pyramid's height;or again the form is that of a half-octahedron.

8c. For hooking onto the wire, the 4 oblique reverse needles (56) aremoved by a mechanism to their deployed positions, and the piston ispushed upwards till the oblique reverse needles find themselves (theirown tips) just above the wire (controlled by a sensor which measuresdistances) (60′), in which moment the machine performs a shorthorizontal flight towards the wire, to touch it with the hook's stem.(The crosswise touching act between the horizontal wire and the verticalhook stem is detected by a mission-specific sensor; a thin and shortmetallic cylinder is set round the hook stem, not touching it, havingelastic supports at its 2 ends which secure its non-touchingconfiguration; when the stem-to-wire touching takes place, the cylinderis pushed into contact with the stem of the hook, and some electricwiring helps detect the fact.) Next, the machine is let fly verticallydown a little, till one or two of the reverse needles hook deep onto thewire, up to the angled tip of the hook, and the fact is detected byanother sensor. In this way the machine finds itself clinged to the wireand the motor ceases flight.

8d. In case of approaching electric current-carrying wires running invertical superposition, the hooking is done onto their lowermost one,taking care not to let any part of the contraption touch the next wireabove (cf C8.3. below). In such case, the connection between piston (59)and hook (60) is insulated.

8e. To unhook, the motor starts flight in captive mode (the piston stillremaining hooked onto the wire), then the machine with the piston risesa little till the tips of the oblique reverse needles find themselves(again) just above the wire; next, the machine performs a shorthorizontal flight to disengage from the wire (by taking away thevertical hook stem from the horizontal wire), and the 4 needles foldback into their contracted positions round (and parallel to) the piston.The machine is then free to fly away.

8f. Alternatively to the preceding process (the unhooking part of it),for instantly disengaging/leaving the place, the machine's body (5)detaches from the vertical piston (59), leaving it in place, and startsuncontrolled fall (vertical), then it starts flight and resumeshorizontality (C3.13b. above), undergoes a further short controlled falldue to inertia, and continues in controlled flight to any direction,free.

8g. The above hooking method can also be applied in the case ofdiscreetly adhering to dense and thin flora elements (small branchesetc.) sturdy enough to carry the weight of the machine, as analternative method to the preceding process (7. above): Theup-protracting piston (59) passes through the body of the machine (5)and can protrude quite enough from below into the canopy of a forest tohook onto a small branch or onto a twig at its point of branching out.Trial down-pulling motion (through vertical flight) informs about a firmhooking, then the motor stops flight, the 4 wings fold in, and theretracting mechanism draws on the piston in order to set the machine atthe desired hight, to operate unseen among leaves and more. The hook isa large version in order to catch well. To unhook, either the abovedescribed instant disengagement method is followed (8f. above) or thehereafter detailed method of revolving-free reverse needles (9j. below),depending on the mission.

9 Wire, vertical:

9a. The approach process is similar (with a certain variation) to theone described in the previous case, approaching a horizontal wire (8.above), only at an azimuth differing by 90°: The machine, set invertical mode (6), flies in floating mode close to the wire (41); itpossesses on its back side, facing the wire, 2 thin metallic pistons(the top piston and the lower one) (55, 42), both horizontal and passingthrough the body, driven backwards and forwards by 2 respectivemechanisms:

9b. In the upper part of the machine's body, the piston (the top pistonof the 2) (55): a) has at its rear tip, the one facing the wire, fourfolding-unfolding reverse needles, pyramidal-wise at their unfoldedposition (56), similar to those described for approach to a horizontalwire (8b. above), and b) has a mechanical arrangement to slightlyrevolve horizontally (radially) to the left and to the right so that itcan diverge a little from pointing to the wire as needed, while the bodyof the machine remains at a stable upright position (6) in front of thewire (41).

9c. In the lower part of the body, the lower piston (42) has at its reartip, similarly to the wall-adherence case (upper part, 4b. above), asmall receptacle (43) with: a) a quantity of glue material, b) a heatingdevice for the glue (46), and c) a mechanism for a small drop of theglue to flow out under pressure from an orifice in the lower end of thereceptacle (44′) and into a slim, horizontal, bored-through needle (44).The needle disposes a) a washer at its rear end (54), holed at itscenter, folded to a right angle at its vertical diameter (with the anglefacing the vertical wire (41), in order to sort of embrace it), its edgebeing parallel to the wire (cf 5a. above), b) a heating device for theneedle (47), and c) a heating device for the washer (47′). [note: inFIG. 15, the washer (54) is shown turned by 90° for better understandingof the mechanics]

9d. To hook onto and cling to the wire, the machine, in floating mode,performs a series of moves and arrangements: a) it extends the toppiston (55) backwards and revolves it slightly to one side, for exampleto the left, so that while moved backwards, towards the wire (in thenext phase), the hook stays clear of the wire, b) flies a shorthorizontal distance backwards, roughly towards the wire, so that thehook at the tip of the piston passes clear of the wire, on its left inthis example, till the needles' tips themselves arrive past the wiretoo, (a fact detected by a distance-measuring sensor), c) performs ashort horizontal flight (transversal for the machine), to the right inthis example, towards the wire, to touch it with the hook stem (52) (afact detected by another sensor, peri-piston-stem-wise one, similar tothe one described in the previous case in 8c. above) d) performs a shorthorizontal flight forwards, away from the wire, hooking-wise, till oneor 2 of the reverse needles (56) hook deep onto the wire, up to thepiston-to-needles articulation, and the fact is detected by anothersensor.

9e. At that moment, the machine being from now on in captive flight dueto the wire being hooked, from the lower part of the machine the lowerpiston (42) is also driven backwards, so that the folded washer's angleedge (54) comes to contact with the wire (41), parallel to it.Subsequently, a) the heaters (46, 47) warm the receptacle (with gluematerial in it) and the needle, b) a drop of warm glue is squeezedthrough the orifice of the receptacle (44′) into the bored-throughneedle (44) and further to the washer's hole (54), it spreads betweenthe washer's vertical edge and the vertical wire (41), it cools thereinstantly and solidifies (cf 4f.C. above).

9f. After that, the motor stops flight, the wings (10, 11) fold (49),the 2 pistons (52, 55) retract as much as possible (the same lengthbetween them), and the machine stays immobile, clinging to the wire.

9g. In order to hold firm the weight of the machine, while it being“hung” in a way from the glued point at the lower piston's needle tip(54) (the other support, the upper piston's hook (53), being simply atension rod), the compound fixture of the lower piston and needle (42,44), a cantilever in essence, is sturdy enough to withstand the bendingmoment at every point of its composite length (cf 4d. above), andparticularly: a) at the base of the needle (44′), where the crosssection of the needle is expected to withstand the local bending moment:the total weight of the machine (body, mechanisms, and accessories)times the length of the needle (44), and b) at the supporting point ofthe piston (the rear side of the body) (42′), it being in its extendedposition, where its cross section is expected to withstand the localbending moment: the total weight of the machine times the compositelength of the piston extension plus the needle ((42, 44).

9h. To unhook and leave the place, after the mission is completed, atwofold action takes place (cf 4g. and 8e. above) concerning the twopistons (55, 42): a) The two support pistons (55, 42) extend a bitforwards (away from the wire), till attaining their regular operationallength, the body of the machine finds itself at a convenient distancefrom the wire, the 4 wings unfold to their regular extended horizontalposition (10, 11), and the motor starts flight in floating mode,remaining captive due to the uppper piston staying hooked onto the wire,b) the heating device (47′) at the tip of the lower piston's needleheats the washer and (additionally) the needle, so that the glue warmsand mollifies, and the lower piston (42) retracts to its normal (idle)positon, c) the machine moves slightly towards the wire until the tipsof the oblique reverse needles find themselves past the wire (53), thenthe top piston (55) radially revolves slightly to the left (in thisexample) so that the hook is free to retract clear of the wire, d)finally the drone flies away free, the top piston (55) turns back to tothe right to its normal positon at the rear of the body, and the twopistons (top and lower) (55, 42) retract in from their extended(backward) positions to their idle positions close to the body.

9i. Alternatively to the B, C and D parts above, for an instantaneousdisengagement/departure, the 2 following actions take place at the samemoment: a) the rear tip of the lower piston (42′), firmly bound to themachine, detaches from the compound outfit [gluereceptacle-needle-washer] (43, 44, 54), leaving it in place, eventuallytogether with a small charge for self-destruction, and b) the machine'sbody detaches from the top piston (55) and the hook (52) at its tip, asdescribed. Then the drone flies away, subsequently retracting to normalposition the top piston (55).

9j. An alternative mechanical arrangement is feasible concerning thesupport of the four inverse needles (56) on the hook's tip, to providefor instantaneous unhooking: Each needle is articulated to the piston,free to revolve, from the inverse inclined (hooking) position at anangle of 45° to the hook's stem (52), to a position on the extension ofthe stem, by turning by an angle of 135° (56′). In this way the fourneedles in their new position constitute a straight continuation of thepiston (55) and hook stem (52), and the disengagement becomes easy:there is no need to resort to the radial horizontal revolving of the toppiston (55) as described previously (9h.C. above), nor is need toabandon the piston-hook fixture for an instantaneous disengagement likein the previous horizontal-wire-adherence case (8f. above).

9k. The instantaneous unhooking arrangement just described (9j. above)can also be adopted in the previous case of disengaging fromhorizontal-wire adherence (8e. above).

10 Notice on 4., 8. and 9. above:

10a. The processes of approaching/adhering to horizontal and verticalwires (8. and 9. above recpectively) are applicable for adhering toevery object, horizontal or vertical, with an accordingly small crosssection.

10b. A multi-mission version of the machine is possible, adaptable foradherence to a wall of a building (and to a corner, for that reason) andto a wire, be it horizontal or vertical, if the need arises. The versiondisposes: a) a mechanism for transferring the compound fixture[piston-receptacle-needle] to the upper rear part of the body (for walland corner) or to the lower one (for wire), as needed for the mission insight (the piston getting pulled out of its guide-tube, tranferred, andretracted into the guide-tube in the new position) (42, 55, etc.), b) anarticulation on the needle's tip, permitting to bring an angled washer(for corner and wire) or a flat one (for wall) in front of the holedneedle (45, 54), c) a mechanism similar to the above a one fortranferring the piston-and-hook rig from the upper rear part of the body(for vertical wire, the body being in vertical mode) to the pointguiding the piston through the gravity centre of the whole machine (forhorizontal wire, the body being in horizontal mode) (42, 59, etc.), d)and the regular two pistons (48) (or legs, as the preference goes) atthe lower part (for wall and corner of a building), everything soarranged as not to interfere (either idle on in active phase) with thetranferring mechanism. Each one of the two piston-transferringmechanisms a and c, functions as a means to protract its piston all theway to the rear, out of the body, to transfer it to the new position,and to retract it into the waiting passing-through conduit-tube there.

11 Adhering to another drone, or an aircraft: This action is dealt within the following (C6.4e. below), in the Applications chapter.

C5 Motor and Energy (Articles 1 to 4)

1 General:

Motion of the different parts of the machine is derived from the motorunit, the engine; it is transmitted by various mechanisms. The engine isfastened on the inside of the body, with ties elestic enough, absorbingvibrations, protecting the sensitive parts of the drone. Depending ondrone size and on mission type, different engine types can be used buttheir suitability may vary widely.

2 Engine types:

2a. Electric for district current, brushless, disposing a relay toreverse the motion up to twenty times per second(=2×10/1″) to providefor the reciprocating motion of the wings, with a condenser in order toavoid thermal shocks and overheating. It is suitable for very smallversions of the drone: it works silently and consumes lettle. Current isstored in a battery and/or in a condenser.

2b. Electric for district current, common type, suitable for a littlelarger versions. It is stronger and can stay in operation hours long, aslong as the battry supplies current. Motion reversal to the wings isperformed through a dedicated mechanism.

2c. Internal combustion 4-stroke gasoline or kerosine type, with adouble muffler. Suitable for larger versions, flying close to theground, whereby the surface effect assists horse power.

2d. Internal combustion two-stroke gasoline or diesel, separatelylubricated, with a simple (even rudimentary) muffler. Suitable for largeversions, flying high, in open-accessiblity operation, where noise isnot an issue, for long periods aloft, carrying plenty of fuel due tohigh consumption. Its high horse power to weight ratio is a criterionfor choise. It is the tkype most commonly used in aeromodellism.

2e. Hybrid, in both small and large versions: the electric part(district-current type) offers a quiet flight, and theinternal-combustion part is diesel type, revving at constant rpm forreliability in charging the electric one; the diesel's muffler engageswhen in proximity to humans and facilities, and has an electric deviceembedded (with air side-input) which makes for complete burning ofexhaust gases and, so, for minimal optical trail.

3 Mechanics:

3a. Internal combustion engines work around their optimum rpm range,with a bespoke set of gears for transmitting to mechanisms/actuators.The muffler makes for increased consumption, but on the other hand itreduces the noise produced and can reduce the thermal track of theengine.

3b.Castor oil and/or bio-oil can replace regular fuel in accordinglyarranged engines. Vibrations are reduced if a 2-cylinder engine replacesa monocylinder one of same displacement, or counterbalancing weights arefixed onto the crankshaft (unfortunately, adding to weight).

3d. In an internal combustion engine, double conversion of a piston'sreciprocating motion to circular (in the crankshaft), and back toreciprocating for the wings, is detrimental to the horse power finallybeing transmitted to the wings; for this reason a mechanism is annexed(replacing a normal transmission) to the common 2-stroke engine or,preferably, to a modified Sterling-type one, transmittingreciprocatively with pistons throughout to the wings (which areconsidered as 3^(rd)-type levers.

3e. A small jet engine of very low thrust, available in the nichecommerce, can also replace a common 2-stroke engine: its plus, the highthrust to weight ratio, its minus, high consumption. Instead of usingthrust from combustion gas, or a rear (or a bypass) propeller, therotation of the main shaft transmits to pistons, pushers and actuatorsto produce the reciprocating motion of the wings.

4 Further engine possibilities:

4a. Electric, for district current produced from energy transmitttedwirelessly from the ground, received by an annexed rectenna;transmission may also come from another drone, for instance in the caseof collaborating (serially positioned) successive machines, highlightedin the hereafter detailed applications Penetration (C6.3. below) andLocal GPS (C6.5i. below). It is suitable for long-duration staying andoperation at inaccessible places and for long-duration flight of themachine, in a light version. No battery is needed as a principle, butone can be of use in case of intermittent energy transmission, forinconspicuousness, in which case the (large, as needed) rectenna foldsout of sight during the idle times.

4b. Electric, for district current produced from photovoltaic cells,which can be installed far from the machine, out of sight. A battery isneeded for operation during overcast and night times (no battery if nooperation at these times). Similarly to the previous case, suitable forlong-duration staying or flying.

4c. Electric, for district current originating in piezoelectric cells,sonoluminescent ones, etc., additional to the units 2a. and 2b. above,as an auiliary source economising in storage of electricity, in case a)said units are not voluminous, and b) there is plenty of the resource(vibrations, noise) on-site.

4d. Batteries are lithium ions or similar type due to high charge toweight ratio; they are the version enduring vibrations, UV light, rain,and are capable of high numbers of recharges. On both the inside and outof the machine's body, every part and every appendage of suitablechemistry can contribute to storage of electricity as a condenser, eventhe support layer of the photovoltaic cells.

C6 Applications (Articles 1 to 6)

1 General:

1a. The following description of applications highlights thefunctionality and the usefulness of the machine. Among theseapplications, several are already being carried out by existing types ofdrones, but the sought requirements (A3. above) are not fully met;especially, the important condition of inconspicuousness (C1d. above) isnot truly implemented. The present machine though offers an added valuethrough the suitability of its inherant capacities for theseapplications. It is its packet of specifications concerning constructionand flight, and most of all its very low observability.

1b. These aside, on the other hand, some other of the applications arebecoming feasible solely based on the existence of the present machine.In some of them, one machine operates unaccompanied, in some others manymachines operate in coordination; but in all of them, the intrinsicqualities of the machine makes it exceptional in performing them.

1c. It can rightly be said that the present machine is exclusivelysuitable for executing said applications, since practically no otherdrone (or other flying unit for that matter) is up to coping with thesituations met during their execution. Its AI unit can cope with complexsituations, perform work at perfection, and conduct functions thanks toits analytic and computational capabilities; its mission-specificattachments and tools also can meet every requirement: conditions,precision, time. And conversely, the applications described in thefollowing are in a sense exclusively executable at perfection by thepresent machine.

2 Triangulation:

2a. Triangulation has regularly been perfomed in 2-dimensional space, ona horizontal plane, for instance for locating the origin of a sound, aclatter, an electromagnetic signal (data transmission, video signal,etc), or some other technologically localisable signal or phenomenon,whereby three machines suffice, positioned in three points, thetriangulating points, lying on said plane, the best configuration beingto have them located at the angles of an equilateral triangle. By suchtriangulation, the point of origin of a sound, for instance, isdetermined on an upright line situated at distances (from the threetriangulating points) observing three relations between them; this meansany point on this line, but not a unique point (or even two points,symmetrical to each other by means of the three-point plane).

2b. To locate with certainty a unique point, four triangulating pointsare needed, not belonging to the same plane all four of them. Their bestconfiguration is for them to lie at the four apexes of a regulartetrahedron; in reality, also putting detecting devices close to (notexactly at) the four apexes of a regular tetrahedron produces satisfyingtriangulation results (regardless, the correct term would be“tetrangulation”). Triangulating from four points thus arranged giveshighest certainty for detecting places lying inside the tetrahedron'sexpanse, even extending the range of localisable places with satisfyingcertainty to distances outside the virtual tetrahedron, distancesattaining 5 times the mean edge of the tetrahedron.

2c. The present machine can serve as triangulation point while beingleast observable. Four of them can perform a satisfying triangulationsession, remaining (quite) unseen, and instantly locating a sound, asignal, in the environs: either a) staying in four fixed points defininga regular tetrahedron, or b) flying all four of them in floating mode,forming a regular airborne tetrahedron, or c) staying 1 or more of themin fixed points and the others flying in floating mode, the four of themlying at the apexes of a more or less regular tetrahedron, or d) finallyflying in a formation approximating a regular tetrahedron, as whenescorting a vehicle or a convoy.

2d. For instance, possible 4-point cases (having known points andseeking the rest) are: A) three known points on the ground, seeking the4^(th) point in the air to install a drone, and B) 3 known points in theair, seeking a 4^(th) point higher in the air, and possibly a secondcandidate “ 4^(th)” point lower, either in the air or on the ground. C)Conversely, one known point (conveniently selected) on the ground,seeking three more points in the air, possibly one or two of them on theground, and D) one known point in the air, seeking three points in theair and/or on the ground. E) two known pointon the ground, seeking twomore points in the air, possibly one of them on the ground, andconversely F) two known points in the air, seeking two more points inthe air and/or on the ground G) two known points on the ground and onepoint overhead (either flying or at a fixed point) and seeking the4^(th) point, and conversely H) one known point on the ground and twoknown points overhead, and conversely, two known points on the groundand 1 known point overhead, seeking the 4^(th) point I) one known pointon the ground and onother one in the air, either above it or fartherafield, seeking two more points in the air and/or on the ground.

2e. The process of determining the four points A, B, C and D in 3D spaceto be occupied by drones (either flying aloft or clinging stationary onobjects, as needed or as available) is done through thoroughly applyingthe following 8 geometric relationships: [1] a tetrahedron has fourfacets (equilateral triangles); 4 apexes; and 6 straight edges, all 6 ofthem equal in length, e.g. length AB is equal to length BD; [2] eachcombination (out of 3 in all) of 2 non-meeting edges (i.e. notconverging to a common point, not having any common point) are verticalto one another in space, e.g. straight AB is vertical to straight CD;[3] the length between the middle points of such a pair of non-meetingedges (e.g. K is AB's middle and L is CD's middle) is vertical to eachone of these 2 edges and equals 0.7071 (the square root of 0.50,practically 0.70) times their common length: KL=AB×0.7071=CD×0.7071;e.g. if edges' length is 17m their middles are distant by 12 m, if edgesare 27 m the middles' distance is 19 m, and if edges are 41 m themiddles' distance is 29m; and inversely, starting with a knownmiddles'-distance KL, edge length AB is inferred being equal to KL times1.41 (the square root of 2, practically 1.40); [4] each combination (outof four in all) of one of the apexes versus the remaining 3 means thatthe 3 points form an equilateral triangle and the fourth point lies onthe vertical (to the triangle's plane) drawn from the centre of thetriangle (i.e. the medians' meeting point) at a distance from thiscentre equal to edge length times 0.8165 (the square root of 2/3,practically 0.8); i.e. if N is the centre of the triangle ABC thenDN=AB×0.8165, e.g. if AB=25 m then DN=20 m; and inversely, starting withD apex's known distance DN from triangle ABC's centre N, the triangle'sside and the distances of D from the other three apexes equal DN times1.225 (the square root of 3/2, practically 1.25); [5] the centre of theequilateral triangle (the facet) formed by any combination of threeapexes is distant from any of these three points by 0.70 times itsdistance from the fourth apex, equal to the triangle's side times 0.577(the square root of 1/3, practically 0.60); it is also distant from anyof the three sides of the triangle (i.e., from any of the 3 middlepoints of the sides) by half that distance from the three points, thatis 0.577/2=0.289 times the triangle's side; [6] in each one of the fourequilateral triangular facets of the tetrahedron, e.g. in the triangleABC, the median's length (from any angle-point to the middle of theopposite side), e.g. the distance of C from the middle K of the side AB,equals AB times 0.866 (the square root of 0.75, practically 0.85);otherwise said, it is the sum of the two distances 0.577 and 0.289 ofthe previous, fifth relationship; [7] the angle between two facetswhichever of the tetrahedron is approximately 70° 30′; [8] the anglebetween an edge converging to an apex and a plane parallel to anotheredge converging to the same apex which plane passes from the edgenon-meeting the second edge, is 45°; otherwise formulated, an envisionededge's two tips also belong to two juxtaposed non-meeting edgesrespectively, designated first edge and second edge for this reason, andthe plane passing from the first edge and parallel to the second edge isat an inclination of 45° to the envisioned edge; for example, edges ACand CD converge to apex C, and edges AB and CD don't meet; from edge ABwe consider the plane parallel to edge CD; edge AC is oblique to thisplane, at an angle of 45° to it, and the same stands for all the otheredges converging to A or B, i.e. edges AD, BC and BD (i.e., all theedges except the juxtaposed 2 non-meeting edges of this example, AB andCD).

2f. Given a number (up to three) of detectors located at known points onthe ground (or, depending on the case, having drones suitably equippedfly unobserved and settle on the chosen points on the ground), the restof the (four in total) places are sought overhead, to install drones at:vertical posts, branches of trees, walls of buildings, even hanging fromwires. In case there is no fixed object or surface at any such pointoverhead, a flying drone in floating mode is installed at the point,taking care to use flight commands and expert programming such as not torisk being carried away by the wind or by wind bursts; securing sucheffect is done through continuous adjustment (at a frequency not lessthan 10/1″), facilitated by installing on the ground several auxiliary(drones disposing) transmitters for the desired adjustment: three unitsin total are needed at fixed points on the ground, of which either one,two, or all three can rightly be drones for the intended triangulation,the remaining (if any) being auxiliary. In case a fixed object liesclose to (but not exactly at) one (considerably convenient) of theselected overhead points, the other three points, either overhead or onthe ground, may be slightly tranferred to accommodate: the processstarts again, considering the new points lying a little to the side ofthe originally selected ones, then performing anew the 4-pointestablishing procedure.

2g. Definition of the four places can be done in various ways, each onemore fit for application depending on the case: there is from thebeginning a varying number of given points (places) having already beenselected on the ground or in the air for being suitable to installdrones at, and it remains in each case to seek a further number ofsuitable points to complete the total of four. Each case makes use ofone or more of the given geometrical relationships (2e. above). A numberof cases are demonstratively put forth in the following twelve examples,and the relevant figure highlighting each case is cited: example 1: twopoints given on the ground, two points sought in the air, FIG. 26. Ex.2: two points given on the ground, two sought in the air, FIG. 27. Ex.3: two points given on the ground, two sought in the air, FIG. 28. Ex.4: two points given in the air, 2 sought on the ground, FIG. 29. Ex. 5:two points given in the air, two sought in the air and/or on the ground,many candidate pairs, FIG. 30. Ex. 6: one point given in the air and onegiven on the ground, two sought in the air, FIG. 31. Ex. 7: three pointsgiven on the ground, one sought in the air, FIG. 32. Ex. 8: three pointsgiven in the air, two candidate 4^(th) apexes sought higher and lower,FIG. 33. Ex. 9: one point given on the ground, three sought in the air,FIG. 34. Ex. 10: one point given on the ground, three sought in the air,many candidate combinations, FIG. 35. Ex. 11: one point given on theground, three sought in the air, FIG. 36. Ex. 12: one point given in theair, three sought in the air and/or on the ground, many candidatecombinations, FIG. 37

2h. Example 1: Given two detectors (85) already being installed on theground (or two drones suitably equipped, as above, approaching andsettling on the chosen two points on the ground), two more points aresought overhead, to install drones at; an empirical process is putforth: Designating A the point close to the operator, located on theright side in this example, and B the one farther afield and on theleft, we consider from A an imaginary (virtual) oblique line, ascendingat a 45° angle from the horizontal (conforming to the eighthrelationship, at 2e above), to the left in this example, to an imaginarypoint C, and from B another equally oblique one to the right, toimaginary point D, where AC and BD are (quite, by sight) equal to AB,and hopefullly (quite, again) CD=AB. It is preferable, throughexperience on the field, to bring-consider AC a little towards theoperator and to push-consider BD a little towards the depth of thefield, so that CD be quite horizontal, quite vertical to AB, and at aheight equal to AB×0.70 (the third relationship above), and the distancebetween straights AC and BD be quite equal to that height. The imaginarypoints C and D (86) are the places to install drones at, in order toproceed in triangulation: first, calibration takes place, then thesystem is ready to detect-triangulate. Based on the arithmetics above,if for instance the distance AB and possibly the (horizontal) imaginarystraight CD are a little more then 40m, then CD lies at height h, alittle less than 30 m (around 40 times 0.70). If AB is just over 20 m,then h is just short of 15 m. This is an on-the-field approximation; thecorrect numbers would be: 41 m, 29 m, 20.50 m and 14.50 m respectively,and can be brought to any scale.

2i. Example 2: Given two points A and B on the ground (85), theremaining two apexes C and D are to be defined in the air. From themiddle point K of AB the vertical (imaginary) length KL is drawn equalto 0.70 times the length AB (the third relationship); at point L ahorizontal (imaginary) length CD is drawn overhead, its direction beingperpendicular to AB (again, the third relationship), with a length CDequal to AB (the first relationship), having the point L at its middle;points C and D are the 2 missing apexes (86). This method produces twoapexes at the same height h overhead, to be found simultaneously.

2j. EXAMPLE 3: Given two points A and B on the ground (85), theremaining two apexes C and D are to be defined in the air (differentlyto the above examples 1 and 2). A suitable point C overhead is selectedon a firm object (a wall, a tree, etc.) at a distance from the middlepoint K of AB equal to length AB times 0.85 (or slightly more,KC=AB×0.866, satisfying the sixth relationship above, especially if CKis perpendicular to AB), then the fourth point overhead is sought. Froman imaginary point N of the length CK, at a distance NK equal to CK/3(the second part of the fifth relationship), the imaginary vertical isdrawn to the triangle ABC (and to its median CK) with a lengthND=AB×0.80, or slightly more than this (ND=AB×08165, the fourthrelationship); points C and D are the third and the fourth apexessought. It is noted that this method produces 2 overhead apexes ofunequal heights, of which one is located on a firm object alreadyconsidered suitable from the start. It is noted that the triangle [ABC]is equilateral, which translates into A=B=C=60° and AB=BC=AC=s;verticality of ND to this triangle is secured by drawing the straight NDvertical both to AK and to NA′, whereby the point A′ belongs to AC andAA′=AC/3, which means that A′N and AB are parallel to each other.

2k. Example 4: Given two overhead points C and D (87), both at height h,suitable for drone installation, two more points are sought on theground (case converse to preceding Examples above). The verticalprojections of C and D on the ground being C′ and D′ respectively, thepoints A and B sought (88) must be so located as to have the straight ABcross at 90° the straight C′D′ and their intersection be the middlepoint of both AB and C′D′; in this way the quadrilateral AC′BD′ will bea square. In detail (for geometrical consideration only, not foron-the-field contemplation): We consider at the middle K of the lengthC′D′ the horizontal median and on the 2 sides of the C′D′ we define (onthe median) points A and B such as the 4 straight sections KA, KB, KC′,and KD′ be equal. In reality, it is easy to appoint two pointsadditional to the two projections so that the four points on the groundform a square. But in case the height of CD is not nearly equal to 0.70times its length, the tetrahedron [ABCD] is not regular; if it is less,inevitably the points A and B lie on the ground, or the original pointsC and D can be shifted a little upwards; if it is more, at best thepoints A and B can be defined a little high above the ground, or eventhe original points C and D can be selected to be distant more thantheir original distance from one another.

2l. Example 5: Given two points (or apexes, or drones) A and B in theair (87), two more points C and D are to be defined in the air or on theground following the procedure of Example 2 above, but first comes apreliminary process to cover all potential couples of C and D. Given themiddle point K of AB, an imaginary circle is drawn on the planeperpendicular to AB at K, having K as centre and a radius R equal to ABtimes 0.70 (the third relationship); now, following the procedure ofExample 2, from a peripheral point whichever (designated as L′) of thecircle [K, R] a straight length C′D′ equal to AB is drawn perpendicularto AB (tangential to the periphery), having L′ as its middle point, andso, every possible couple of points C′ and D′ is candidate as thedesired couple of apexes C and D to be defined. Alternatively, animaginary circle is drawn on the same plane (perpendicular to AB at K),centred at K, its radius R′ being equal to AB times 0.85 (the sixthrelationship), and on its periphery every couple of points C′ and D′distanced C′D′=AB is candidate as the desired C-and-D couple (89).

2m. Example 6: Given one point A high on a wall (90), suitable for adrone to adhere to, and one more point B on the ground just below (91),two more points are to be defined at median height, on objects (posts,trees etc.) spotted across a street. This case, the last of thehere-presented cases with two given points and two sought, is a typicalsituation in the field and it is easy to grasp the particularities ofits theory (geometry). From the middle point K of AB a horizontal lengthKL=AB×0.70 is idealised, leading to positions on the other side of thestreet, situated just opposite the pair of given positions and deemedstrong candidates to host the two sought points C and D. From point L,two horizontal perpendiculars of equal length LC and LD are drawn onboth sides of KL, such as kCD=AB; points C and D are the two soughtpoints (92), apexes of the envisioned regular tetrahedron along with thetwo given points A and B. If suitable candidate positions for C and Dcan only be found at greater distance from K than the one describedabove, then point A is selected a little higher than originally, toaccommodate; the horizontal KL, slightly longer now, is shifted a littlehigher accordingly, and the process defining C and D is done again. Inthe opposite case, candidate positions for points C and D only existingcloser, then point A is selected a little lower accordingly, KL getsshorter and at lower height, and C-and-D-defining process is done anew.All this is about geometrical correctness, but also points slightlydistant from a regular tetrahedron's theoretical apex positions will doquite well.

2n. Example 7: Given three points A, B and C on the ground (93),preferably forming an equilateral triangle, the 4^(th) point D is soughtoverhead. The equilaterality of triangle (ABC) is assured by eitherselecting points that create 60° angles between them, or pointsdistanced equally between them in pairs (three pairs in total):distanced by the common length s of the 3 sides (similarly to thecomment in Example 3). The desired point D (94) is situated above thecentre of the triangle (the intersection of the triangle's threemedians) at height H equal to 0.8165 (the square root of 2/3) times sidelength AB, practically H=0.80×AB (the fourth relationship): that is,from the medians' intersection the vertical is drawn and the point Dlies on it at height 0.80×AB. In detail: K is the middle of AB, N lieson CK where NK=CK/3(=CN/2), ND vertical to CN (and vertical to [ABC])and ND=0.8165×AB. This consideration also helps in case the three pointsare situated overhead, at the same height in the air: the 3 dronesinstalled at them may be clinging to objects/surfaces, or may fly infloating mode (immobile in the air) as strictly as possible, and a4^(th) point D can always be determined above them, as described above.An extrapolation of this case, the three given points being in the airat differing heights whatever, is dealt with in the following Example 7.In the particular case of these three points positioned high enough inthe air, higher than 0.80 times side length AB, a second “4^(th)” pointcan be determined below them: normally in the air, but especially on theground if the 3 points are situated at height 0.8165×AB (cf Example 7below).

2o. Example 8: Formulated conversely to the previous Example 7, giventhree points (or apexes, or drones) A, B and C in the air (95), a fourthpoint D is to be selected, either on the ground lower,or in the airhigher than the triangle formed by the three points. The same procedureas in Example 6 is followed: The three given points should be sodisposed in the air as to form an equilateral triangle or thereabouts;from the centre N of this triangle the perpendicular to the triangle'splane is drawn to both sides of this plane and on these twohalf-straights two legths are measured, both equal to the triangleside's length times 0.8165 (or practically 0.80, the fourthrelationship): one, length ND′, upwards and the other, ND″, downwards;the 2 points D′ (96) and D″ (97) are both suitable candidates to be thedesired fourth apex D. In case the triangle ABC is located close enoughto the ground, the point D″ cannot be and only the (upper) point D′ (96)is suitable to be the desired apex D.

2p. Example 9: Given one point B on the ground (98), the remaining threeapexes A, C and D are to be defined in the air. An overhead point A isselected on a firm object (a wall, a tree, etc.) and the ensuing processis the same as in Example 3: first, from AB length's middle K aperpendicular (out of many candidate ones) to AB is drawn to a(possibly) suitable overhead point C on a firm object so thatKC=AB×0.85, then from a point K′ of the median CK, such asK′K=K′C/2=CK/3, the vertical K′D to the triagle is drawn such asK′D=AB×0.80 (the fourth relationship); apexes A, C and D are the soughtones (99). Similar to the commentary in previous Example 5, a greatnumber of B, C and D apex combinations are possible, depending onselection of B, an on inclination of KC.

2q. Example 10: Given one point A on the ground (98), the remainingthree apexes B,C and D are to be defined in the air. A suitable overheadpoint B on a firm object is selected, and C and D are sought just likein Example 5: first, from AB length's middle point K a befittinglyselected (out of many candidates) perpendicular to AB is drawn up to anoverhead point L such as KL=0.70×AB (the third relationship), then alength CD perpendicular both to AB and to KL is drawn so that CD=AB andthe point L be the middle of CD; apexes B, C and D are the sought ones(100). It is noted that, just like in Example 5 above, there exist amultitude of such perpendiculars; they are the radials of the circle [K,0.70×AB] lying in the plane perpendicular to AB at K. And from thestart, there is a great number of possible points B to begin with anddetermine the perpendicular plane and the radial of the circle.

2r Example 11: Given one point A on the ground (98), the remaining 3apexes B, C and D are to be defined in the air. An imaginary (virtual)upright length AP is drawn from A upwards, of whatever length, andaround point P, three points B, C and D are sought, all three of thembeing at the same height with P more or less, at distances from P equalto APx0.70 (the fifth relationship) all 3 of them, and disposed radiallyround the point P at angles 120° between them (forming a horizontaltriangle, the equilateral BCD); apexes B, C and D are the sought ones(101). That is, the operator spots three candidate points overhead, ofequal heights, forming an equilateral triangle or quite, and the optimumcase is, the triangle being at a height equal to its side times 0.8165(or practically 0.80, the fourth relationship). In case convenientcandidate positions exist higher than that, the drone earmarked for thepoint A on the ground can rise overhead to suitable height, flying infloating mode, or rather the equilateral triangle can be expandedhorizontally, radially outwards, to accommodate, on condition that theoperator spots other candidate points further afield. And if the initialpoint A on the ground is not just below the candidate triangle's center,the detecting unit (the present machine or any type of detector on themove) can move horizontally accordingly. Extrapolation of this Example'smethod is possible, seeking three points B, C and D in the air atdifferent heights, forming an equilateral triangle from whose centre Nthe perpendicular to the triangle's plane passes from A, and such thatAN=0.80×BC (the fourth relationship) or AB=BC (the first relationship).

2s. Example 12: Given a point (apex, drone) A in the air (102), threefurther points B, C and D are to be selected in the air or some of themon the ground: Normally, at most two of them on the ground; andexceptionally, all three of of them, if the line to be drawn from A inthe beginning is the vertical drawn downwards. This is the converse caseto the previous Example 11—extrapolation; its procedure is followed,extrapolated to random inclinations: An imaginary length whatever AP isdrawn from A, either vertical (upwards or downwards, the converse caseto previous Example 11—basic) or disposed at random inclination andorientation, and at P the plane perpendicular to AP is visualised; onthis plane, every possible combination of envisioned points B′, C′ andD′, 0.70×AP distant from P, forming any of a multidude of homocentricequilateral triangles (the centre of the triangle being P, the concretevariables being triangle size and triangle's orientation on the plane),are candidate to be defined as the desired points B, C and D (102). Now,the many perpendicular planes, and relevant quantity of such triangles,whatever the length, inclination, and orientation of AP, apply for suchcandidacy, as long as the operator can perceive points having suchgeometry and being suitable for drones to hold/adhere on.

2t. In case 4 drones accompany a running vehicle or a convoy,security-wise for an eventual triangulation session, one of them canattend at some distance behind and at a certain height overhead, flyingalmost unseen, and the other three fly higher in triangular formation,all four of them hopefully forming a regular tetrahedron in transit.Upon detecting a sound, an intense defuse, or other detectablephenomenon, the four drones stop flying, stay immobile in the air, andperform the triangulation. Subsequently four reserve drones, flying information higher, fly lower and enter service in tetrahedral formation,replacing the original four drones. A mechanical prerequisite is for themotor units of the drones to be strong enough to be able to escort attraffic speeds.

2u. In the previous case of drones escorting a vehicle, additionalprovision can be made for eventually detecting a phenomenon originatingin another vehicle inside the traffic: two sets of four-dronetriangulators are assigned, one to stop upon detection, as above, theother one keeping on flying with the escorted vehicle (and similarlytriangulating).

3 Penetration:

3a. A sequence of drones is put in service for collecting informationand video from otrherwise inaccessible places and transmitting them backfrom drone to drone in succession in inconspicuous ways, otherwiseimpossible due to modern detection technology, ultimately to informheadquarters behind the lines. The drones remain least observable whileflying to approach, while being inertly adherent to their respectiveplaces, and during the phase of their disengagement; and they areundetectable while transmitting, thanks to strategically occupyingpositions and to inconspicuously operating.

3b. With this method, the operator's virtual presence in inaccessibleplaces is met with success. Every drone in this sequence can transmit(secondarily) commands to the next one in front and (primarily)audiovisual 3D to the next one behind: either footage from itsenvironment, disposing a specially equipped camera or 2 such camerasfront and rear (or using two cameras on two distinct drones for 3Dshooting of a wider scenery), or footage received from the next drone infront. The machines can receive and transmit signals, information andaudiovisual using antennae with narrow transmission/reception angles.Transmission is split into multiple coded channels and use is made ofproprietary spread-spectrum software; (but the technology is widely usedand can be detected, hence) also the following optical method isadopted.

3c. Transmission is translated to optical signals in compressed, spacedout packets interspersed with irregular idle moments, jumping frominfrared channels to UV ones (offering a greater bandwidth) andinversely from UV to infrared, in frequencies: a) both quite close tooptical ones in order to be readily reflected on mirrors, and b) farfrom the optical frequencies in order to remain undetectable. Standardsto abide by are maser/UV-laser frequencies, compression, and anglenarrowness.

3d. Each and every drone in the sequence disposes a flat mirror (61)with a small device to micro-adjust its angle of incidence (once thedrone is installed in position), such as to have the two beams, onetowards the drone behind (62) and one towards the drone in front (63),be symmetrical to one another by means of the vertical (64) to themirror's plane (61); in other words, the plane defined by the two beams(162, 63) is vertical to the mirror's plane (61), and also the bisector(64) of the angle they form is vertical to the mirror's plane (61).

3e. Each machine assists with the installation of the next one in frontand, next, is serviceable in detecting the drone behind and the one infront in order to calibrate the position of its own mirror, and inarranging the antennae; then the particular drone is ready foroperation. Successive transmissions cause some loss of signal strength,so amplifiers are annexed to drones at due intervals.

3f. Disengagement of the drones takes place after a mission finishes inorder to withdraw from their places, starting from the one most infront; each one is helped in this task by the one just behind, opticallyand by RC: control of the environment and immediate flight back, one byone in succession back to the drone most behind, up to completewithdrawal of the sequence of drones towards secure premises. In caseone drone can not disengage, withdrawal of the rest continues as normaland the particular drone either disengages later at an opportune moment,or uses the inborne charge to self-demolish.

3h. A variation to the described process is to have a mother dronerelease in flight the daughter machines (cf 5a. below) one by one insuccession not far from the place each is meant to adhere to and work at(cf 5h. below), and at the end draw near again to collect them one byone (cf 5g.A3. below) and fly away.

4. Solitary:

4a. One machine of the present type can inconspicuously perform workwhich is impossible to execute inconspicuously while using flyingmachines of existing types. Operation can be done in 2 ways: a) bydirect RC, executing video survey for reconnaissance etc. b) as the mostin front unit in a succession of drones in the previous case (3. above).

4b. The machine, flying over an inaccessible place with plainvisibility, e.g. a hill's top in the middle of dense flora, and carryinga specific, small apparatus to land onto the place, a) can let it fallon the place in such a way that an eventual_observer only spots a flyingbird letting excrement fall, or b) can land smoothly (cf C4.2. above) inorder to leave the apparatus on site and then fly off, in such a waythat an eventual observer only spots a bird either landing to take ashort rest or letting heavy prey fall.

4c. It can also land and, making use of a telecontrolled arm, graspfirmly an object (formerly put there in awaiting state) and fly offwithout leaving time to an eventual observer to realise that it was nota predatory bird snatching at food; particularly if the object iscovered with variation material in the intention to deceive, withspecific appendages lending the appearance of a small bird or a fallenprey. The machines are graded, and their motor units too, according tothe weight they can bear (cf C1.4d. above): starting from a few grams,up to a couple of kilograms or more.

4d. In a way of last boundary crossed, the machine can operateunderwater (cf C4.3d. above): starting with approaching flight in theair towards water surface in acute angle and deceleration (cf C4.3a.above), and going on flapping the wings underwater for control, offeringthe appearance of a bird lowering to snatch food, while performing work,caring for: fishing policies, oceanography, environmental or otherpurposes, a) sailing either at the bottom, anchored in a place, or b)just under the surface, either carried away by a current or captive to atie (cf C3.15. above).

4e. In the air, the machine can either fly high and serve as an airbornerelay and exchange point with good visibility for television and mobiletelephony, or fly low and carry a small, undetectable, short-rangedetecting apparatus for local transmissions, the only flying-unitsolution suited for such tasks. Besides, It performs aerobatics(acrobatics in flight) of a novel kind, or flies for demonstration, foradvertisement, and for professional purposes (inconspicuous, inprivate): surveying, town planning, GIS, transfer of medicines, mail,etc. It is also in position to play an out-and-out role byapproaching/adhering to an incoming drone or to a larger aircraft, underthe guise of either a destroyer (anti-drone unit), or a last-chancesaviour in case of utmost emergency: The machine flies unobservabletowards the anticipated course of the incoming unit which approaches ata comparatively high speed, and keeps flying in this same course aheadof the incomer, at its own comparatively low speed, until the incomingdrone/aircraft catches up; the machine disposes telescopic, flexiblelegs extending backwards, towards the incoming flying unit (making for asmooth impact with the incomer), and magnets and glue (or whatever otheradhering material) attached on the back side of the body, ready at themoment of impact to secure adherence onto the incomer, in order to carrythrough the operator's intentions: A. either establish/maintain a closeacoustic/electronic watch through the drone's/aircraft's metallic orplastic skin (a particular case of the airborne-relay role cited above),B. or demolish (having inconspicuously kept flying on the exact courseof a motor of the incomer and having adhered to it) making use of asmall inborne explosive charge (C1.3a.B. above) whose detonator(electronic and sensitive to acceleration) fires off at the moment ofthe impact due to the huge acceleration it undergoes. (Alternatively, atan opportune moment just prior to impact, a command is given for firingoff the charge).

4f. A quite similar capability is that of tagging an object or a vehicle(67) with a small transmitting device (RFID type or other, with flexiblelegs and magnets like in the previous article, 4e. above) or with a dropof a liquid (66) radiating at a specific frequency, to subsequentlymonitor the vehicle's progression or the object's transfer, while flyingat a safe distance, unobserved. Putting in place the liquid drop can bedone in various ways: A. either injecting or insufflating it from closeenough at a controlled angle, Blaunching with a piston, C. or lettingthe drop fall from to the vehicle's top from very low height. Theinsufflating procedure is enacted in 3 steps: D. The drop (or dropletfor that reason) of polyethylene glycol, with a small percentage of asubstance radiating at a known frequency and another percentage ofplastic glue resin, is enclosed in a protecting membrane which eitherencompasses it at the moment it exits the launching device, or prior tothis, inside it. E Drops are stored, either as such or in a raw liquidform (in bulk), in a hopper-form container cupped from above, holed atits narrow end below, sitting on a small horizontal barrel, behind whicha short piping system with a safety valve and further back a small metalpressurised cylinder containing compressed gas (common air) aredisposed; on pulling a trigger, a drop is fed from the hopper to thebarrel, the valve opens, and air under pressure launches the dropthrough the barrel, aiming at the object to be tagged (66). F. Atcontact (violent due to falling from a height) onto an object or theroof of a car (67), even onto a put-on hood or the hair on a person'shead, given the instance, the membrane breaks and comes off and thedrop(let) spreads unobserved (67). Terminating the operation can be doneas follows: in the case of a sticking drop of radiating substance,radiation either ceases with time, deactivated through vaporation orabsorption, or is discontimued through beaming a specific ray onto it;in case of an RFID-type device, a deactivating signal is sent, or aself-demolition command.

4g Various technologies recently (most importantly, Oculur Rift) come tohelp veterans in the psychological terrain so they can get over theirmetatraumatic disorders (functional, mental, stress, anxiety, phobia:PTMD, PTSD etc.) through the use of devices facilitating their virtualpresence in battlefields (either long-past, recollected, or famoushistoric ones) under controlled conditions (sort of exposure therapy),with digital representations and scenery, with avatar characters, underexpert medical supervision, whereas: The present machine flies literallyto assist psychotherapy, tailored to and differing between conditions,indulging with immersion, creating empathy, certainly in parallel withdrug therapy, offering a value added in such circumstances ofaugmented_reality, no need of virtual scenery and avatars in bringingthe patient to live anew the conditions prevailing in past battlefields,since the machine can fly and manoeuver inside real scenery (jungle,derelict towns, stranded ships, etc.) and their comrades can play rolesin it. The patient can see and hear through the microphone and thecamera of the machine (or through 2 fish-eye cameras of 180° each frontand rear, or more ones on the perimeter, zooming for circular covering)and can be seen and heard through the amplified earpiece and the screenannexed onto the machine (or a larger screen if needed). He can evenintervene, in ways afforded by the technology, in real circumstances, orin digital scenery, of augmented reality. The machine offers theadvantage of getting close to various scenes without being givenattention prior to intervening.

4h The machine can be used in a similar way in various cases: in gaming,thanks to its AI capabilities and special flying abilities: bird-likeflying units manoeuver in natural scenery or in one set up for the needsof the game, representing the gamers. To oversee/control naturalenvironments, keep a watch on herds, logging off and recording events,protection from poachers, and plenty of other, similar cases where thepresence of such flying apparatus does not affect the flow of events. Insuch a case, using special sounds can serve a good purpose: the machinerecords various single sounds from the environment through atele-microphone, makes use of a sound processing programme and ofarchives of sounds, works in processing the whole and reproduces themodified sounds (either through loudspeakers previously scattered andhidden in the environment, or) from its inborne loudspeaker, atirregular repetition rates and intensities, under audiovisualsupervision from the base, dodging poachers, taking care not to arouseexcessively the attention of wrong-doers (or they may go forextermination or just capture of such a novel “living” specimen). Toinduce a controlled advance-avalanche on a snow-covered mountain slope,through generating a loud sound or a detonation, for the safety ofskiers: in the same way a flying bird causes an avalanche by screeming.To help detect noxious fumes and gaseous leak concentrations as well asmicroparticles suspended in the air in quarries, fracking works,landfills and other problematic situations and sceneries, while flyinginconspicuously in the backgrounda laser or lidar beam is shot towards asuspect space or a questionable works surface, which beam reflects back,lessened in intensity by the percentage absorbed by said material orgas; the effect is detected by a sensor and measured by the AI unit withsuitable devices. 4i It also renders service in fire detection andwarning, as well as in fire surveying, in close team operation with thesupervisor/operator, based at headquarters, who also supervises a hostof other machines similarly operating elsewhere (they make use of cloudcomputing, disposing a virtual cloud for the moments they cannot attendmultiple emergency calls, simultaneously coming from different areas);it flies high over villages, expanses of land, forests (for fear offorest fires and arsons), hills and massifs, making use of thermals forrepeated high and low hovering; it first makes some reconnaissance work(initial aerial scan-like work to archive potential hot spots), thencarries out an ensuing regular inspection (passing from the same placesevery 10 or 15 min and transmitting a video signal to headquarters or toa patrolling vehicle) for tracking down any eventual appearance ofsmoke, fire, explosion etc.; it describes a raster scan fully coveringland under inspection, i.e. in a rectangular to-and-fro flight pattern,and safely following the ground's relief from a height as dealt withpreviously (C3.16. above), with assistance from GPS; taking advantagefrom the fact that a “bird's” innocuous presence aloft does not provoke.

The machine flies on automatic, describing said raster scan. Itdisposes: 2 cameras, optical-light one and infrared, fully RC-able, withstabilisation and strong focus-while-filming, highly sensitive sensors,burst shooting to save on bandwidth, the normal one having 3Dconfiguration; a highly potent tele-microphone; an electronic sensor todetect e-m busts; a piece of software for pattern and signalrecognition; and an archive of hot spots (registered in the past), ofother potential hazards in the area inspected, and of their nature:chimneys are candidate points in the winter, just questionable in othertimes. The idea is to create a perceived safety map of the area, withthe double scope to easily spot points of emergency and (helped bypattern recognition SW) to safely exclude false alarms: an animal'smotion, noise from rustle of leaves-branches, etc. As soon as a genuinewarm spot shows up, (a hot spot in reality, but the notion of “hot”dilutes to “warm”, due to the distance), a preliminary alarm goes off:The machine heads towards the spot, at the same time warning theoperator at the base and reverting to RC, as stated earlier (C1.5a.above); the camera zooms in on the spot which remains in focus duringthis combined approaching and zooming process. Alarm offen proves falseat close inspection, e.g. when hot solar light reflects off a discardedbottle or a piece of glass (but the camera has to get close to certify)and then (the light) tarnishes when the machine randomly manoeuvres outof the reflected rays; in such a case: the operator gives a command torevert to automatic flight, to continue as normal on the programmedroute from the point where the incident sparked alarm, courtesy of theGPS connection, and the position of the false-alarm object enters themachine's memory so that no other alarm comes out from it. If the alarmproves genuine and there is an open, steady flame or smoke with sparks(appearing warm in the camera's sensor from a distance, but turning uphot from close), identification of the fire scene takes place, meaningto measure/take in account: A. the temperature at moments from afarwhile the machine approaches to the point, B. the duration of theoutburst and the valuation of its regularity, and to infer from thedegree of its (un)steady/growing character; identification soundspositive if these exceed a set threshold: e.g., 200° C., a number ofseconds, rapid spreading of burning area, not a chimney fire (asaid-first suggestion, to be revaluated). The high temperaturesprevailing compel the use of a metallic material for the wings' leaves(cf C2.16d. above, and C11.4. below). In such a case the identifiedscene proves dangerous; further alarm goes off to firefightingheadquerters, and photos of the wider area are taken for localisation ofeventual arsonists; command is set off to other drones patrollingelsewhere to converge to the area for more elaborate checking and at thesame time the last 15-minute video shooting (which is always storedbefore being erased, conforming to regulation) is recalled from thesignal storage, for the operator to track down an eventual suspect movethat had previously eluded attention.

5. Collective:

5a. A number of machines of the present type (designated as subsidiaryor daughter drones/machines) can be programmed for and brought tocollective operation, in so-called collective flight mode (cf C2.1a.above), where the value of the units operating in team exceeds theircollective value as units; the applications described here can only beperformed to perfection by these machines, thanks to their expertprogramming and to the special mechanical/digital capabilities theydisplay; the inconspicuousness of the flying units also helps theapplications along.

5b A number of daughter machines exit a mother unit, their base, get inflying formation, and perform work collectively. The base is: either abuilding (premises either on the ground or underground), a vehicle ofany size/character, specially equipped additionally to its usual tasks,a sea vessel (a ship or a submarine in surfacing phase) equipped forthis as an annexed task; the base can even be a torpedo, speciallyequipped for this task, getting close to the target and, prior toexecuting, releasing underwater a small number of machines, whichmanoeuver to stabilise themselves (cf C4.3b. above) and to head towardsthe surface, ultimately to get airborne as cited earlier (C4.31 above),or a flying unit: an airplane, a helicopter, or even a drone of thepresent type to spread out a group of daughter drones, smaller onesThelatter is the basic idea of this article: a drone deploying andrecalling mini-drones, both operating automatically and guided throughRC by the operator in headquarters.

5c. The case of subsidiary (or daughter) drones swarming out from amother_drone is detailed in the following. It bears similarities withthe other cases and offers inferences as to the circumstances inimplementing them. Drones team-fly on one hand, automatically, keepingconstant distances between them, moving in the same direction as their,say, five closest drones, trying not to get left behind and not to gettoo squashed up, and on the other hand they fly executing a rogramme,flying in formation while making team manoeuvers, resembling a flock ofbirds (or a small swarm of bees), 3-dimensional in the air, changing atwill (following commands from the operator, or as the programmed flightgoes) their flight formation, density (i.e. distances) and aspect ofmovement, even group-navigating around obstacles, safely. Commands areeither automatic for the whole flight, loaded down to each one of thegroup, or come from one drone playing the role of a central unit (to bereplaced by another drone in case of malfunction), or originate in themother drone, or even in the base (in headquarters).

5d. The drones dispose each one their AI unit, sensors for distances andother constants and parameters, antennae and transmission devices,mission-specific equipment, and an external appearance befitting themission. During their transport in the interior of the mother drone, thedrones are prepared so as not to risk from its manoeuvers:safely/automatically tied up, lined-up in rows, with the wings folded upand the electronics switched off so as not to affect the mother drone'sones.

5e. Drones' exit for deployment out of the mother drone is effected inits (horizontal) lower part (68), in the drones warehouse or hatchway: AThe drones warehouse disposes a horizontal, rectangular gate, which hastwo articulating hinges running along its front side (71) and its rearside (72) respectively, with hinge-safety-pins locking and unlocking oncommand, to secure the fastening of the gate onto the (horizontal) floorof the drones warehouse, in 3 case-specefic modes: either fastening atboth the two sides of the gate, front and rear: the gate being securelyclosed, this being the normal mode for the gate of the mother droneduring flight, or only fastening at the front side: the rear hinge beingunlocked, the gate being free to revolve downwards round the fronthinge, and the opening facing backward, for the drones' from themother_exit drone, or finally, only fastening at the rear side: thefront hinge being unlocked, the gate being free to revolve downwardsround the rear hinge, and the opening facing forward, for the drones'retrieval back to the mother drone. B The gate opens by revolvingdownwards round its front hinge (73), the opening facing backward, whilethe mother drone continues flight on its route (80), at moderate speedanyway, since the downward-open gate (70) constitutes a hindrance andgenerates resistance from the air at the mother drone's underside. C Thedrones get untied and automatically draw near the gate's edge (69), andthen fall out of the mother drone through the opening (75), taking careto set adequate distances between them, in order for them not to getentangled with one another. D Each drone on its turn, falling in the air(75), unfolds the 4 wings and performs redressing manoeuvres (76),assisted in this by the 6-axis i.s., as detailed in the foregoing(C3.13b. above); after restoring horizontality and getting into flightformation (77), the “flock” of bird-like drones are ready to operate.

5f. Safety in communicating between them, as well as their protection,are secured by transmitting through narrow beams (optical and others) toand from a central unit, attending to all drones headquarter-wise (thebase, the mother drone, a particular drone among them, or a satelliteoverhead), which unit alternates in accordance with mission's needs ordue to technical problems (malfunctions etc.).

5g. Getting back to the mother drone's hatchway (68) is done as follows(in case the drones are not bound to self-destroy on finishing theirmission): The flight in formation is cancelled, and the drones enter themother drone in one of 2 ways:

A Either gradually, one by one:

A1. The above described horizontal, rectangular gate (5e. above) opensby revolving downwards round its rear hinge (72), the opening facingforward this time, in a manner acting as a scoop, while the mother dronecontinuses its flight (80) (with care, though, at low speed, since theaerodynamic consequences of the opening facing forward while speedingcan prove disastrous both for the machine's stability and for theinnards' safekeeping, in the drones-warehouse).

A2. The group of daughter drones range themselves (69) in parallellongitudinal rows of equal height while flying on the mother drone'sroute, adequately distanced between them, at the exact anticipatedheight of the incoming gate (70′) (just a little higher than its freeleading edge), at a speed lower than the mother drone's one.

A3. Eventually each drone (78) on its turn is met by the (faster moving)gate “scoop” at the lower part of the mother drone, it folds up its 4wings as detailed in the foregoing (C4.1e. above) and slips up along thegate's length (79) and into the drones warehouse, where it getsautomatically tied down to the floor in the places originally preparedto accept drones, and its motor ceases turning.

B. Instantly, inorderly:

B1. the mother drone heads towards the drones (80) which group togetherand fly at low speed awaiting their being taken in (69),

B2. a net or a specially made scoop (82) unfurls (81) under theunderbelly of the mother drone and expands to adequate width, as toembrace a number of drone spaces across,

B3. the mother drone enters a course just above the route of the drones(68),

B4. flying drones are overrun by faster-flying mother drone, are sweptin flying mode, and fall in the net/scoop (83).

B5. drones fold rapidly their wings (84), stop their motors, and arepushed by their momentum up and into the drones warehouse (68), as thenet/scoop retracts up, where they are automatically tied down.

5h. A variation on the process of drones-mother drone application isdetailed here: a) mother drone nears the area to be surveyed, releasesin flight 2 daughter drones, and retreats in the surroundings; the pairmanoeuvres high enough not to be identified, interwinding in flight inthe way of courting one another, 3D-motion shooting in the way,unobserved; in the end, the mother drone hurries to collect them asthough a predator seizes prey, and flies away; or b) the mother dronedrone releases a sole surveying drone (shooting images or doingotherwise as programmed) and at the end collects it back and flies away;or, finally c) the mother drone releases the subsidiary ones insuccession in the Penetration application described in the foregoing(3a. above): one by one in flight, close to the places they are eachmeant to adhere to and work at; at the end, they disengage and flyaround, and the mother drone approaches, gets them in, one by one asdescribed previously (5g.A3. above), and flies away.

5i. An important application of the collective flight of drones is thelocal geopositioning system, designated as local GPS, covering smalleror larger expanses of land, independent of the established ones such asGPS, GLONAS, Iridium, the european one EGNUS and more, but stillcompatible with at least one of them. The importance of such apositioning system, with local character, unaffectable from high-calibrepositioning-system-owners' disposition to restrict_accuracy duringunsteady international situations, is obvious; plus, the ability of thedrones to remain quite unobservable, non-existent for entities otherthan the owners/managers of the system. Ownership and/or use of it canbe reserved for the administration or for private schemes, depending onlocal jurisdiction.

5j The machines are carried in group inside a mother drone and releasedto fly in the area to be GPS-serviced (or they take off from HQfacilities or from a vehicle or a sea vessel, as also stated in theforegoing (5b. above); they are specially equipped with electronics andprogrammed for the job; they are positioned in the air at the determinedexchange/relay points of the local network, distributed in compliancewith a rectangular-raster system of points, all at the same height (on ahorizontal plane); they are fine-tuned according tocalculations/transmissions based on one or more of the establishedsystems cited above, specifically in times of peace; they either stay inlong-time flight thanks to appropriate technologies supplying energy(C5.4a. and 4b. above), or fly consuming electricity or combustibles,and on exhaustion they come down one by one to land while other reservemachines lying in wait take off to replace; but they can also rely onthe mother drone (or some other flying entity) flying-patrolling, todraw near in flight and refuel them one by one. The same mother dronecan collect back the machines on conclusion of mission or they dcandisengage and land independently.

5k. A twofold provision is taken care of for flying at a steady pointaloft: Relaying apparatuses are installed in the ground in arectangular-raster steady-points system, with their respective two-axisco-ordinates certified through the established systems cited above;distanced by five to seven kilometers on the two axes; these apparatuseshelp the present machines to be installed at the correct points in theair when replacing a landing one of the system, as already stated (5i.above), or when taking off anew after having landed due to bad weather,even all of them together. (In such conditions, no need to use theestablished systems cited above to certify positions in the air). Theposition of each one of the machines is controlled with adequatefrequency, around 10/sec (10 sec⁻¹), in order not to let them be carriedaway by winds, and reinstating commands are given automatically ortransmitted from the central unit.

5l. Another application in which the machines are disposed in arectangular raster of points in the air, this time on a vertical plane,is that of constituting a vertical “wall” of anti-aircraft apparatuses,whereby the machines-plane is disposed perpendicular to the course ofthe incoming threat. One or more machines are at or near the anticipatedpoint(s) where the aircraft motor(s)' route crosses the machines-plane;these gather automatically close to that point/those points; each onedisposes a small charge with detonation system setting off from anaccelerometer. A machine met speedily by a motor of the incomingaircraft undergoes a huge acceleration which fires off the charge anddemolishes the target (but other fire-off ways also exist).

6. Flying in captivity:

6a. Machines flying in captive mode (cf C3. 3. and 15. above) may beconsidered as non-aircraft, depending on local jurisdiction.Consequently, flight regulations being in power in these countries areless strict, and a wider range of applications can be performed in theprivate sector. Depending on regulations, in some cases the tie is notrequired to endure forces of tension against a strong wind, so a simplefiber suffices, useful to transmit data; data transmission through thetying element safeguards against interferences and makes forindetectable operation.

6b Some cases of flight in captivity are, for instance, when: A. Themachine flies in floating mode, or in a steadily circular route forcommercial or professional purposes with full control from the ground,e.g. GIS, land-surveying, an airborne meteorological station, a relayingvideo transmitter. B. the machine escorts a sea vessel (a ship, asurfacing submarine) and deploys aloft, tethered to the vessel andfollowing at a short distance behind, performing surveying work andindetectably transmitting data through the tie, unobservably flyingamong the habitual multitude of birds overflying vessels; an eventualoptical control from afar can not spot it, especially if it describes anelaborately curved course among the birds, automatic or RC-ed;(similarly, drones taking off from car roofs to hover and get a clearview of ground ahead); operation of the motor is discontinued atmoments, suspending thermal trait production, taking advantage from theascending thermal produced astern of the vessel; or the motor iscontunuously running on and off, just for securing said curved course,since the pulling force through the wire secures forward flight.

6c In case the machine is to escort a surfacing submarine, it takes offfrom the vessel at the moment of surfacing, from a bespoke hatchway inthe upper part of the vessel, opening for release at the moment ofsurfacing; conversely, the wire reels in, the drone withdraws andretracts to the hatchway, and the opening locks up watertight. Thecaptive drone can be in operation in the air with the submarine eitheron surface or underneath, lower than at periscope depth, in which casethe periscope is out of use and the sole means at hand for surfacesurveying is the drone: inconspicuously performing better-than-usualwork as virtual periscope, an augmented-reality periscope in reality,due to its height of flight, hence the attained (huge) range ofsurveillance.

C7 Equipment (Articles 1 to 4)

1. Management of equipment:

1a. The mechanisms and dependencies necessary for functioning of themachine and for performing work are secured in their places throughfastening on the inside and attaching on the outside of the body of themachine respectively, and measures are taken against interferencebetween them, be it mechanic, magnetic, or electric.

1b On attaching/removing different elements attention is paid to thecentre of gravity of the machine as a whole, to remain practically inthe same vertical line at every moment: the place of this centre isrectified and controlled through slightly, appropriately moving theplace of one or more elements, or by way of using counterbalancingweights. concerning the category of tiny drones (C1.4a. above), theequipment includes very few items, mainly means securinginconspicuousness and a small camera.

1c. Several of the elements in the following articles may be eitherattached to the machine on permanent basis, functioning with it whileflying (or not functioning at all, just being transported), ortemporarily, just while flying to approach and while in adherence on aplace, thereafter to be desengaged from the machine and deposited to theplace in order to perform there, self-contained.

1d. The AI unit is sealed up with thermosetting materials (cf C10.2.below) against breach, mechanically ensuring the secrecy of the device.

1e. The following inventory highlights the internal and external itemswhich, including the body, constitute the machine; in no case all ofthem are present or used at the same time, for the same mission;

2. Inventory of the equipment:

2a. motor, mechanisms transmitting energy, and items necessary for this:motion, stability and the internal functions, as cited in the foregoingchapters,

2b. means for managing energy: photovoltaic cells, battery, condenser,fuel tank, rectenna for wirelessly receiving energy,

2c. means for signalling: lamp(s) and flash(es) for optical signals,colouring, branding mark, means generating radio signals, straight orcoded: for marking-the-presence/identification/asking forpermission-of-flight (concerning the class of the flying machine, theflight programme, and asking permission or aknowledging prohibition ofoverflight, respectively), means generating specific sound sequences formanaging animal herds in the wild, means generating laser and/or lidarbeams for detection of concentrations in the air (noxious gases andmicroparticles/dust), means for signal amplification because of distanceor of multiple relaying,

2d. means for self-protection, for low observability, and forcamouflage, which are detailed in the following chapters on protectionand inconspicuousness (C8. and C9. below),

2e. wings and electronics for flight: wings as already detailed (C2.above) with borders, leaves, over-fibers, under-fibers etc.,(potentially with piezoelectric leaves and generator), mechanisms formoving wings, wing appendages, bird's-like “beak”, for alternatinghorizontal-vertical modes, for changing distances of wings' supportpoints A, AI unit, software, AI unit-to-actuators robotic unit, wiringto sensors and actuators complete with fuses, 6-axis inertial system,

2f. Detectors of: position and distancing of key parts of the AI unitand of the machine (by way of attesting non-interference on the machinefrom a third party), and adequate bending and opening of sample wingleaves, and their adequate reaching to the underfibers at the end of theup-motion of the wings (by way of attesting non-decrease of elasticityconcerning the material of the leaves), and time counters of operationunder full light (discarding nights, cloudy times, or in shadows),sufficiency or depletion of: fuel, electric charge, glue for adhering,water for self-showering/wiping,

2g. Audiovisuals and communications means: cameras (optical, 3D capable,strongly zooming, telecontrollable) and infrared camera (both withstabilised lens), means for data (de)compression, small “black box” foraudiovisuals etc. (a box specially made to withstand shocks, fire, wateretc.), gyro-stabiliser of the machine for additional video stability,headphone, microphone, screen, mirror with micro-adjusting system, andantennae, radio/video transmission system, system amplifying thetransmission at certain distances,

2h. Sensors: compass, inclinometer, chronometer, acidometer of air,magnetometer, air thermometer, infrared telethermometer, anemometer forwindshear/for vertical and radial wind, compound volt-ammeter,barometer, and intensitometer for reflected laser or lidar beams, andthe six-axis i.s. (inertia system).

2i. sensors functioning underwater: hydrometer (for speed of current),depth gauge,

2j. tracking instruments, measuring tools: GPS or another establishedpositioning system, radar and/or ultrasound means for measuring heightof flight, distance of obstacles and detection of form, foravoidance/circumnavigation (e.g. horizontal wires), or forapproach/adherence (e.g. corner of building), for measuringdistance/speed/course of incoming flying unit (head-on or oblique), fortracking fellow-drones in collective flight mode (distance keeping,formation-flying).

2k (concerning large machines) radiometer, alpha/beta/gamma raydetectors, magneto-telluro-meter, ionisation meter,

2l. Tools for adhering to places/objects: (for a machine in verticalmode) a horizontal piston and its 2 mechanisms, A) to move it betweenits 2 positions, upper and lower, and B) to move it backwards andforwards through the body of the machine when at its lower position,with a small recipient for glue on its tip, a heating element for theglue, and a mechanism exerting pressure on a drop of glue to passbackwards through a bored-through needle, a bored-through needleprotruding from the lower part of the recipient, with two washers at itstip, a flat and an angled ones, with a mechanism to bring any one ofthem right on the axis of the needle on demand, with three resistorsaround them (needle and two washers respectively) for heating each oneindependently, another horizontal piston, in the upper part, and themechanism to move it (and also to move the previous piston, when at itsupper position) backwards and forwards through the body of the machine,with a short hook-like fixture at its tip having four reverse obliqueneedles round its stem, in the form of a quadrilateral pyramid, with amechanism to move the 4 needles by 135° towards the prolongation of thestem, on the piston's axis, with a peri-piston-stem-wise contact-sensor(cf C4.9d.C. above), with a mechanism to move it, the machine being inhorizontal mode, towards coinciding with the vertical line passingthrough the machine's centre of gravity,

2m elements for supporting the machine: two horizontal legs at the lowerpart and backwards, three upright telescopic legs to the ground,

2n. Tools for performing work: remote-controlled pair of arms withextensions, e.g.: apprehending parts, screwdriving, winding, cuttingparts, launching means for tagging drop/arrow/fired element, gateactuators (for exit/deployment of subsidiary drones), scoop actuators(for their withdrawal), and

2o. sundry others: mechanism for showering sensors and lenses (againstcollecting dust sediment), warm-blowers and/or wipers on sensors/lensesto remove rain drops (and said showering), captive machine's tie reelwith pulling mechanism (actuated both from the machine and from thebase), etc.

3. Internally, the AI unit coordinates, works together with, and catersfor:

3a. the memory, a cooler, accelerometer and 6-axis I.s. (inertialsystem), (potentially) the piezoelectrics for the wings' leaves,commanding automatically or by R.C. (remote control) upon the wings, theaudiovisuals and the attachments, positioning system, (de)coder ofsignals, amplifier of signals (weakened due to multiple relays),signalling the machine's ID, reception/aknowledgement of permission tooverfly, detection of and coping with interference from third parties(revocable at will), etc.,

3b Self-destruction command to either microcharges' detonators and/oroverheating resistors in key parts of both the AI unit and the machineas a whole, in case detectors track down changed positions/distances ofsaid parts, and (for certain missions) protection to coded degrees fromrays and radiation of various categories.

4. Externally, similarly: antennae, beaming devices, photovoltaic cells,the mirror's actuators and micro-adjuster, and actuators for legs, foraudiovisuals, for wings: both for flying and for (un)folding, andactuators for adhering elements.

C8 Protection (Articles 1 to 3)

1. In case of a machine with one of the dimensions being large, theexternal skin of the body has (along the length of this dimension) oneor, better, more (successive) discontinuity joints protecting fromlightnings.

2. The machine disposes a small explosive charge at a key point,detonating to self-demolition on command as soon as a danger for thesecrecy of the unit is detected eirher automatically or by RC, or ratherseveral charges, smaller ones, at key points of the machine, theirdetonation command and procedure being as furtive as possible(electronically), whereas, if required for the mission, the chargedetonates and, self-demolition put aside, also destroys any targethappening to be at close range (cf C6.4e.B. above). Prior to detonation,electric charge transmitted to plastic or paper-made elements disformsor burns them up, for further ensuring the secrecy of the device.

3. The body of the machine and the attachments are made fromnon-magnetic material so that it is not trapped when close to magnets orcurrent-carrying wires (cf C4.8d. above). In case a coil is used aselectromagnet at the upper rear piston's tip for adhering onto a ferrousmaterial (C4.6c. above), the coil does not have any magnetic effect whennot charged with a current.

C9. Inconspicuousness (Articles 1 to 5).

Inconspicuousness, or low observability, is effected by followingvarious methods of flight and using different technologies:

1. The machine flies following a route in low height, or it flies takingadvantage from ascending thermals, giving economy in consumption andavoidance of thermal footprint; thermals are either detected from themachine itself in far infrared, or information comes from another flyingunit, from satellite systems, etc.

2. For stealth flight, the external attachments are kept (innon-operating phase) inside port-holes, behind gates of flat design, andthe body of the machine has flat external facets, with neat dihedralsbetween them; it is a passive method. the technology of invisible cloakaslo helps, an active method, but it consumes electricity (a lowconsumption, though, thanks to the small-to-tiny size of the machine).

3. For low observability, external appendages with fitting appearance(and possibly motion) procure similarity to a living flying unit: abird, due to its size; or a super-large insect, because the machinedisposes four wings. On large-size machines, short down-like appendagesglued at their front end on the perimeter of the wings and undulatingfree at their rear (or rather real bird's down glued on instead), andlonger, feather-like ones fittingly glued on their tip, contribute inthis issue; made of material and having a texture such as to presentvery little resistance to the air while the wings move up and down.Better still, they present a certain delay in their downward-inclinationduring the wing's up-motion, due to resistance to the air: a passiveaction; whereas in the down-motion, for a real-life effect, some active(with a mechanism) precedence in the downward-inclination of the tipfeathers, at the start of the motion, is welcome. (This inclinationholds until a short moment short of the end of the down-motion of thewing, and starts again, passive this time as cited above, with theup-motion of the wing). The mechanism waiting on the long feathers atthe tip opens them radially, fanwise, at the last moment of theup-motion, and keeps them so fanned for a short moment at the start ofthe down-motion, for best effect. On small-size machines, the elasticityof the appendages makes them incline downwards during the up-motion andupwards during the down-motion, and this suffices.

4. A beak-form appendage at the front part of the machine, changinginclination on converting horizontal-to-vertical mode of the machine andvice-versa (C1.2b. above), can carry a camera and move on 2 dimensions.The rear part of this beak, in the form of a head, as well as the wholebody of the machine, is covered with down-like appendages, similar tothose on the wings (3. above). On the other hand, two of the telescopicupright legs of the machine (C4.2b. above) have the appearance of bird'slegs.

5. Finally, keeping distances from installations, buildings, objects,houses and specific objects, as demanded by regulations in variouscountries, is also positive for inconspicuousness and low observabilitydue the distance.

C10. Software (Articles 1 to 4)

1. Each machine has its own AI unit and several software programmes itworks with, mission-specific ones, from the list detailed in thefollowing. A number of them are available in the market, while othersare or will be written specifically for functions and missions of themachine. Attention is paid in order to keep the hardware units safe fromvibrations and shocks.

2. Solid state units (secure against vibrations) with sufficient backupare preferable to hard discs for storage and general operation. Smallweight—volume is a must; novel units available in the market arepreferable to special editions lacking the time to become trulyfunctional and bug-free; e.g., ARM units for hardware and raspberry pifor robotics, for the time being, and new emerging systems, in time.Solid state storage units are secured: coded (cryptographically) andsealed with two layers of different thermosetting polymers (any one ofthe two deteriorates upon efforts from a third party to get over thisone or the other); if an error occurs in working time, the machinereturns automatically to the base and their replacement is provided; andif a third party's intervention is detected, the printed circuits areheated to demolition.

3. For saving on weight, circuits printed on paper or plastic foil, andstorage (of data and software, coded) on such, can be used in very smallmachines instead of the usual circuits and the storage basis describedabove; bespoke devices for digital procedures on such ultralightcircuits-and-storage basis are provided, and its programmed combustiondestroys circuits and storage in case a third party's intervention isdetected. Alternatively, the machine is let fall onto a water volume(cistern, lake, canal, etc.), submerge and sink down, and the ultralightcircuits-and-storage basis deteriorates, being of specific compositionfor undergoing such an effect.

4. Categories and different items of software are:

4a. Software for functioning of the AI unit: Operating system. Measuringthe degree of decrease of elasticity of the material of the wings'leaves. Controlling distances of key parts of the AI unit and of themachine as a whole (in order to attest non-interference on the machinefrom a third party), and -giving command for self-demolition in case ofinterference: by overheating through resistors, or through detonatingmicrocharges at these key parts, or just instantly erasing the solidstate storage units, “007”-style: by sending a high-voltage charge fromthe power supply (i.e., from the consenser, instantaneously discharging)into the chip, destroying it and erasing everything. Making securecompressed backup (in a small “black box”) of all the data transmittedand of the information concerning the internal functions of the machineduring the last time period prior to erasing it, a period of setduration. Making use of the proprietary internet cloud for uploading theemergency calls (from flying fire-detecting units or from other cases ofemergency) in case the operator cannot simultaneously handle overmuchincoming ones.

4b. Software for communications Expecting a signal to start operationand to pause motionless. (De)coding and (de)compression of sent/receivedsignals and data. -Signalling the category of the machine to an oncomingflying unit; asking (by sending further signals) for classidentification of the oncomer; and assessing the answering signal inorder to proceed accordingly: either evading an eventual collision, orescaping. Similarly: signalling the category of the machine, and thecharacter of the flight programme standing; asking for permission tooverfly or just approach a facility, a sensitive place, or an expanse ofland; and the answering signal of either permission, restriction orinterdiction, to further proceed as needed or as demanded.

4c. Software for operational commands: Monitoring the functioningduration of parts of the machine, and the duration of externalinfluences; and alarming as soon as previously set thresholds areexceeded. Deploying/folding back the photovoltaic cells, and managingthe energy received. Measuring the quantity of dust collected onsensors/lenses, and activating showering thereof and/or warm-air blowingthereon when thresholds are exceeded. Measuring the quantity ofremaining fuel, battery charge, self-showering water, and glue foradherence; and, when there is only little compared to set standards,alsrming for decision-making, either by programme or on RC.

4d. Software for commands of flight and manoeuvres: Managing themoment-before-synchronisation (m.b.s.) effect (C3.2c. above), in whichthe first moment of the down-motion of a diametrically opposed pair ofwings overlaps the last moment of the down-motion of the otherwings-pair (to mitigate inertia and decreased lift force at thesemoments). Controlling the course of flight, the accelerations and theturns by the use of the six-axis i.s., assisted in this by thegyroscopic stabiliser of the machine. (There is another stabilisingsystem, embedded in every cameralens this one). Determining start andtermination of flight in ascent/descent (for reaching a concreteposition in the air), and control of distance from fixed points duringfloating flight mode, by means optical, ultrasound, and electronic,assisted by GPS. Detection and measurement of wind gusts ahead, and ofwinds as such: longitudinal, windshear, vertical. -Detection ofascending thermals ahead in the far infrared, selecting, grantingpriority to one of them among several existing ahead, approach, andflying a circular route inside the thermal to gain height (passively).Restoring balance/horizontality in flight, assisted by the 6-axis i.s.:exit from a stall or from a spin, and coping with a sudden windsheargust, or with a blow. Adopting a low-flight escape following the groundrelief, assisted by the GPS (by comparing the watched-over relief withthat in storage), and collectively flying either in RC-ed or programmedflight-formation or suite of formations, keeping steady reference toneighboring machines in flight: distance, orientation, azimuth.Detecting/locating a desired place/object, approaching with controlleddeceleration, contacting and cace-specific adhering procedure, asdescribed in the foregoing (C4. above), then folding the wings andputting the motor on pause. Disengaging procedure from adherence,programmed flight away, and keeping inconspicuousness distances.Detecting/locating/circumventing an obstacle; in detail: Approach up toa preset distance, following a preset procedure of detour, flight nearand around it (at a steady height, or otherwise), and presetresuming-course procedure: either on the initial course (afterdescribing a semi-circular detour around the obstacle), or on a newcourse, unoccupied after the detour (after describing a quarter-circulardetour). Observance of standing local regulations, stored in the AIunit, updatable at intervals or in proximity of sensitive places:priority of flight for units flying at the same height (taking inaccount the unit's importance and other factors), TCAS-wise for smallunits/drones; also (proposed): flight on air lanes either horizontal orparallel to the ground, rotating to the right or to the left (inconformity with regulations-to-be) just as flight height increases,keeping in each lane a fixed orientation/height (either from sea levelor from the ground). Command to subsidiary drones for exit andretrieval, for collective flight; command to open/close gates and tounfold/fold back the retrieval scoop; or executing said commandsreceived from the base. Executing a watching procedure upon a taggedtarget-object or vehicle, while flying at a preset distance from it.Unreeling and reeling back a mission-specefic length of a tie (rope,wire, or fibre) for captive flight, commanding from the machine (whichonly is of importance here). Flight to converge with the route ofanother flying unit. Automatic return to the base (either at a fixedpoint or moving around) after a mission is terminated (and no signal forreturn is received) and in case contact with the base is disrupted:either in low flight or at steady height right to base, as programmed.

4e Software for commands and moves in performing work: Defining up tofour points for triangulation and installing as many drones at these, atthe four apexes of an imaginary, airborne, regular tetrahedron:approach, floating mode, adherence if there is a fixed object nearby;finally, the four drones being ready to execute “tetr-”(tri-)angulationcoordinated by an operator from the base. Trialling micro-adjustments tooptimise the attached mirror's inclination for the optical transmissionbetween the drone behind and the next drone in front, as described inthe Penetration article (C6.3e. above); detection of changes, andcorrective micro-adjustments; additionally, a radio or videotransmission system towards the successive drones on both sides (backand forth) is available, amplified at places as needed, tailored innarrow beam and discontinued at “random” moments (based on a programme)for secrecy. Commanding the electromechanical unit for robotic moves ofthe RC-ed pair of external arms and their extensions (catching, turning,launching, etc.). Managing the basic camera(s) front and/or rear andaccompanying microphone, telemicrophone, headphone, screen (along with asecond, annexed, larger screen if needed). Selecting videoframes/suites/data, by figure or pattern recognition and sorting, toisolate desired forms/patterns and to transmit to base; storing theselected parts, using the “black box” (4a. above) for this, and deletingthe rest in order to save both on transmission time and storage space;Storing and using gaming software, in-putting the machine's owncapabilities. Using proprietary drone-capable editions of existingtechnology, e.g. Oculus Rift, for augmented reality-wise presence of aperson (other than the operator) in faraway places and in varioussceneries (for treating veterans' PTMD, for gaming, etc.). Generatingsounds/detonations for controlled snow avalanches in mountain slopes,and generating optical/laser/lidar beams, measuring the reflectedintensities, and computing concentration of noxious substances in theair. -Tagging a target object or vehicle:Placing/implanting/insuffflating/launching a trailable signalling deviceor piece (drop) of material.

C11 Construction (Articles 1 to 4)

1. Parts and accessories are either made of transparent material(unseen/untreceable in flight) by 3D printing or extrusion, fromthermosetting polymers, or of duraluminium (non-brittle, of specialconsistency), with a small cross section; inclusion of high-resistancefibers the length of plastic parts reinforces them (cf C2.8e. above):fibers laid in specific patterns prior to material infusion,interconnected for maximum strength. Alternatively, acidified/carbonatedpaper (highly porous) is suitable for use in frame parts and serve as acapacitor; and highly compressed paper, structurally sound, can meetspecific requirements in flight and in operation. The quality of thematerials and the meticulous work to put them together make for amachine inconspicuous in flight, hardships-resistant (rain, heat,vibrations, dust, wind gusts, etc.), and finely able to performdifficult assignments/missions.

2. Parts with a rectilinear form, either plastic or metallic ones,exerting push (sustaining a compressive force) have a cross sectionsuitable to withstand flexion: either cross-form (“+”), angular (“L”),or circular (“o”), but circulars, the best of the three as far asmechanical resistance is concerned, collect humidity and need inspectionat times. As for the parts exerting pull (sustaining tension), they arefrom plastic material or fibre, non-elastic, with a cross sectionconsiderably (e.g., three times) greater than the mechanicallynecessary, for safety. In each eventual bolt-and-nut place, two plasticwashers with elasticity are each placed under the bolt head and the nut,to resist vibrations and damage from a fall; and at the circumference ofthe bolt, an elastic peripheral foil-wise material resists alike.

3. The external skin of the body of the machine has a rectangular(possibly square) cross section, and is made of: either one-piececompressed polypropylene foam, its thickness being reinforced in places,zones-wise, for supporting elements of equipment from the inside or inthe outside, thin aluminium sheet reinforced at zones with extrudedaluminium of angular cross section either through welding at points orthrough riveting a points, the points zigzagging on double line,material suitable to function as a condenser, its thickness againreinforced at zones, or similarly reinforced compressed paper, qualifiedfor yielding the least possible trail to radar and other detectingtechnologies (Ceramics, equally stealth-qualified, is not a candidate inthis list of materials since the machine is prone to fall or to bumphorizontally onto places in unsuccessful procedures to approach andadhere to). The materials listed can be mixed at places, so that thebody of the machine presents the best possible compound capability: towithstand physical hardships, to perform assignments, and to remain andfly inconspicuously.

4. The leaves of the wings' leaf elements are, as a rule, made of aplastic and transparent material not warping under the heat from solarlight. With time the material fails in plasticity and cracks in linesnot regularly parallel to its support line on the wing's border, sobeing ineffective in repeatedly bending and coming back as the wingmoves up and down in succession; the fact is detected (cf C10.4a. andC7.2f. above) and a signal is sent to base for replacement of leaves(procedure of maintenance, C12. below). Exceptionally, the material ofthe leaves is metallic and the support line of each leaf is a revolvingarticulation in case of operation in fire detection and surveying(C6.4j. above) as well as in case of operating in a corrosiveenvironment or under intense radiation, as cited in the foregoing(C2.16d. above).

C12 Maintenance (Articles 1 to 4)

1. The plastic material regularly used in the wings' leavesdepolymerises and cracks with time under UV solar rays and rain, andfail in resisting pushing-up air during the down-motion of the wings.The fact is detectedc as cited previously (C11.4. above) and replacementsignal is sent to base, but also at fixed time intervals the samedecision is made, for the leaves and other expendables, for safetyreasons. Criteria for the duration of these intervals for replacement ofexpendables are:

2. The amount of hours that each machine has operated in full solarlight, for the leaves; time in shadow, in overcast conditions, or atnight does not count. The similar time amount under solar rays, and timeamount of functioning at work, for sensitive parts of the machine.-Consumption of various materials: fuel, glue, water for self-showering,etc. Depletion of charge of battery and/or condenser. When criteria aremet, with the help of chronometers and adequacy sensors, the machineflies back to base for maintenance.

3. Elements to be replaced in the machines are all the plastics(wings/attachments): The elements of the wings: the perimeter (thep-borders as a whole), the borders (both the passing-through transversalones, in one piece each, and the longitudinal ones in pieces), theleaves, the over-fibers, the under-fibers and the legs supporting thelatter. The appendages giving the machine and especially the wings theappearane of a living flyer. Everything plastic in the inside of thebody and the plastic attachments around it.

4. Given both the importance of assignments that this machine is calledto perform, and the fact that it flies at a height above people andproperties, control of construction and operation takes place atintervals and is compulsory, similar in procedure to that already takingplace for the eisting drones. Control is done: In the laboratory: reviewof the AI unit, tests of resistance of the materials under mechanicalstress, and judging the time and the exactness of the responses tocommands. In open space, real flight conditions, evaluation of thereaction to commands for: flight manoeuvres, adherence procedures ontovarious places, and exactness in the performance of various assignments,chosen both from the above, in the Applications chapter, and othersemerging with time and experience.

C13 Regulations (Articles 1 to 8)

1. The present machine is an important step of advance in technology;its ability to take in account (electronically) the laws and regulationsstanding or newly voted for in each country, concerning the flight ofdrones in both the public and the private sectors, and the technologicalability to abide by them, constitute a reason for its instrumentalityand its usefulness to be great and respected.

2. For decades, as soon as a new system or method materialises, newpossibilities appear and unforeseen necessities and problems emerge, aswell as novel responsibilities; in response to them, there has alwaysbeen a certain slowness if not a genuine delay in the appearance of newstatutes and regulations ministering to them. As already cited (PriorArt, A4. above), for the time being drones are largely used for militarypurposes, but new designs regularly emerge and new uses and applicationscome to view; existing models are mostly large and very costly, enrichedwith high technology, with confidential if not secret systems.Nevertheless, emerging new designs, small ones, with an affordable cost,are suitable (also) for the private sector, with many abilities andover-the-counter technology. One of them, the present machine, the mostobvious contender for the time being, displays an overwhelming adequecyfor new uses and methods of operation, a low technological profile, andoffers furtivity and inconspicuousness in operation. Amateuraeromodellers can easily start flying it, while professionals and publicofficials may take some time getting used to, but everybody needsregulations not only for the present machine but for all drones new andold. It is the way things are: all of these new designs are still notwidely used in the private sector, due to lack of corresponding billsand acts.

3. These new designs offer suitability for various uses, to becategorised as follows: Public, military purposes: anti-drone use(C6.4e.B. above), etc. Public, non-military ones: Administration (state,or regional one), Firefighting (C6.4j. above), Education and Training,Police (C6.4l above), Coast guard, etc. Large organisations:surveying/excavating firms, the Media, news agencies, etc. Privateprofessionals: engineers, geologists, advertisers, real estate agents,film directors, photoreporters, environmentalists, land surveyors,cultivators/farmers (using pollinating robo-insects), livestock farmers,mountain rescuers, airliner emergency rescuers (C6.4e.A. above),lawyers, veterans' psychologists (C6.4g. above), etc. Privatenon-professionals and amateurs: naturalists, anti-poacher watchers(C6.4h. above), activists, excursionists, photographers, gamers,out-of-schoolers, computer nerds, armchair invalids, familiarisers withnew technologies, car drivers (using vanguard robo-flyers), etc.

4. For keeping watch on different purposes and different uses of drones,differing provisions of regulations are needed to come to power.Logically, there must already exist (laws or at least) regulations forthe use of drones on military purposes, but due to their character theyare quite confidential; for using them in other sectors, there existnone of them, or just a few. What is needed prior to law-making is adatabase containing: What is on offer: the different existing models,and a learned prediction of what types are ready to emerge and what thetrends are for new models. What is allowed: uses, procedures, works,conditions, times, places (differing from region to region and from onecountry to another). What is prohibited: similarly as above. Whatpenalties and fines can or will result either from non-observance of orfrom exceeding the above rules and set limits respectively. Hereafter,several provisions are proposed, only rudiments of which are already inpower in some countries (or just a mere idealisation thereof isconstantly, and unpproductively, debated on in legislative circles). Inthe previous chapter on Software (C10. above) the software necessary tohelp abide by such legislation, embedded in the present machine, hasbeen anticipated.

5. Drones, the small unmanned flying machines of various types, arecategorised on the base of: Technical criteria such as their wing-span(the drones of airplane type), the diameter of the rotor (those ofhelicopter type), the length of the main body (flying machines of thepresent type), their largest dimension or the volume of the gas they arefilled with (the airship-type ones), and other criteria for other droneclasses eventually to appear. The uppermost height in the air to whichthey are allowed to fly, the maximum altitude which they can attain inflight, their capacity to use night-vision devices, the specificationsof their camera(s), their anticipated (and allowed) uses, thepossibility to fly in captive mode tied to the ground/to a groundvehicle/to another flying unit, etc. The net weight of the basic editionof the flying unit ready to fly but without fuel, the gross weightincluding fuel and equipment, the potential range of equipment, thecapacity of their AI unit, etc. The categorised classification isdetermined after massive construction of the basic flying unit is wellunder works and after equipment has been furnished; it accompanies theflying unit during its entire life-span, and its setcriteria/specifications cannot be changed; in case they do change, it isa new edition of the model, if not an altogether new model to becategorised anew.

6. Some highlighted case laws:

6a. Drones, and every other flying unit not coming under thisdefinition, are bound to abide by restrictions, the strongest concernbeing safety; an important proposal is to fly, following regulations, indistinct height levels over the ground, separated from one another. Eachdistinct height level corresponds to a different direction of flight. Inlow height levels, for every half meter higher level of flight theorientation changes to the right by 10 degrees, which translates to thecondition that, for thirty six times this half-meter transition to upperlevels, i.e. eighteen meters higher, the clockwise orientation shiftbecomes 360°, a full circle, and the orientation is again the same asthe original (lower) one. In higher levels the height difference forsuccessive 10° shift is set at larger subdivisions, and even larger asthe height increases, since larger and more volumionous drones areallowed to fly higher, at greater distances from people and facilities.

6b. It is a matter of an International_Agreement, to define somecritical issues: A. The magnitude of the shift in degrees of orientationfor each distinct level, e.g. either 10° or 15°, or even 30° and so on,for making easy the electronic control on the part of the flying unitsthemselves. B. The magnitude of the height difference in metres betweentwo successive levels, in different height classes from the ground: itis quite fair (as an example) to set it at half a metre at a height often metres, two metres at a height of sixty metres, and ten metres at aheight of four hundred metres, if such heights of flight are allowed;even better, this magnitude can be set to change little by little in aroughly direct proportion as the height changes: e.g. half metre at aheight of 10 metres, 60 centimetres at a height of 12 m, 75 cm at 15 m,1 m at 20 m, and so on (just an example) C. The clockwise oranticlockwise definition of orientation shift as the height increases.D. The lowest and the uppermost (flying ceiling) height permitted foreach category of drones, and E. Minimum distances permitted fromsensitive facilities and areas, from people, from people's massiveconcentrations (colleges, stadiums, protest marches, funeralprocessions, prisons, etc.), from high buildings, ships, other flyingunits, etc.

6c. As an example, given a generally agreed minimum flying height oftwelve metres for safety reasons, regarding all flying units comingwithin the definition of drones, specific minimums higher than or equalto this one can be set for the different categories presented above(based on dimensions, on other specifications, and on utilisation). Alsospecific distances, and flight lows and ceilings, can be set for safetyreasons both on land below commercial airline flightr paths and in areasof airliners' approach to airports (an example of sensitive areas).

7. Concerning sensitive facilities and areas:

7a For safety reasons and because of fear of misuse and loss of privacy,restrictions can be in force for several or most categories of drones,either continually in time or at certain times, for approaching and foroverflying facilities and areas considered of importance ones, of safetyconcern, of security status, or for other reasons, excluding: dronesused by the police, by firefighters, by the administration, by repairingcrews, etc.

7b. Such facilities/areas are comprised in the following: administrativefacilities, areas of aviation's concern (airliners' air routes,airports, and landing approach paths), army camps and facilities,aqueducts and water supply reservoirs, banks, bridges, courts, energyproduction facilities (dams, wind turbines, oil wells on land andoffshore, oil refineries, etc.), factories, mines and quarries, ports,penitentiary institutions, plantations (of economic interest,experimental, or GM), railroad stations and trains on the move, researchfacilities and areas, schools and playgrounds, ships in the open sea andin canals, stadiums and playing fields, steel foundries, zoos, and more.

7c. A signal warning against contravention is sent from the protectedfacility/area towards the breaching flying unit, automaticallyintervening onto the flyer's flying commands (with priority over theunit's automatic flight programme or its RC-ed flight), to make itabstain and keep its distances; the signal cannot be valid at more thana certain distance from the protected facility/area. In case the flyerkeeps violating the set limits, a second signal is sent to it, withpriority again, resulting in ending its flight as such, to head towardscontrolled landing and be searched. In case the flyer does not respondin conformity with the international Agreement, emergency measures areto be taken, always under this Agreement's covering: either demolitionor capture aloft, using means and methods warranted by the Agreement.

8. Further restrictions and provisions:

8a. Besides sensitives (as above), also people (either alone or ingroups), children more specifically, and private facilities (houses,blocks of flats, farms, etc.) deserve being protected by imposingcorresponding restrictions: flying close, viewing through infrared,eavesdropping, disconcerting by making noise, throwing objects, andvarious more.

8b. People, private facilities, and sensitive facilities and areas, allneed to be protected by rules covering every category of drones, throughsetting horizontal and vertical distance limits on approaching them, andtime limits on how long staying close to them is admissible, as well asrestrictions in noise, optical signals and use of their accessories inwhat can be considered intrusion of privacy or violation of security,which raises ethical and safety concerns respectively. Onboard locationsensing devices help in this issue, and restriction-degree setting isessential as for distances, times and other limits to be observed.

8c. Special attention is given to provisions covering the subject ofunits overflying forest expanses because of the fear of forest fires.

8d. Several categories of drones users are excluded from therestrictions cited in the above (either at all times or on moments ofemergency or work), due to their involvement with security or withmatters of public interest, safety etc.: administration, the police, thefire brigade, fire watchers, land surveyors, geologists, etc.

8e. In every case of preparation for a mission in the air, a proceedingsprogramme (assignment, actions and steps, route, adherence to places,work, return) is drawn up, stored in the drone's AI unit, and staysvalid until the mission ends: aside from the possibility of beingconfidential (secret), this programme is available to be communicated toall, whenever it is asked for, through radio transmission.

The various illustrative logical blocks, modules, and circuits describedin connection with the embodiments disclosed herein may be implementedor performed with a general purpose processor, a Digital SignalProcessor (DSP), an Application Specific Integrated Circuit (ASIC), aField Programmable Gate Array (FPGA) or other programmable logic device,discrete gate or transistor logic, discrete hardware components, or anycombination thereof designed to perform the functions described herein.A general purpose processor may be a microprocessor, but in thealternative, the processor may be any conventional processor,controller, microcontroller, or state machine. A processor may also beimplemented as a combination of computing devices, e.g., a combinationof a DSP and a microprocessor, a plurality of microprocessors, one ormore microprocessors in conjunction with a DSP core, or any other suchconfiguration.

The previous description of the disclosed exemplary embodiments isprovided to enable any person skilled in the art to make or use thepresent invention. Various modifications to these exemplary embodimentswill be readily apparent to those skilled in the art, and the genericprinciples defined herein may be applied to other embodiments withoutdeparting from the spirit or scope of the invention. Thus, the presentinvention is not intended to be limited to the embodiments shown hereinbut is to be accorded the widest scope consistent with the principlesand novel features disclosed herein.

What is claimed is:
 1. A drone including four wings in x-configurationmaneuverable by the flapping action generated by a main body, each wingbeing configured to generate lift force in response to the opening andclosing of leaf pairs that, in turn, open and close under upstroke anddown stroke motions, respectively, of each wing generated by the mainbody.
 2. The drone of claim 2, wherein the wings flap in at least one ofan insect-like flight mode and a bird-like flight mode.
 3. The drone ofclaim 1, wherein horizontal thrust in flight is generated by the mainbody moving each wing round its respective longitudinal axis, andwherein lift is generated by the main body, at same time, flapping thewings up and down.
 4. The drone of claim 1, wherein the main bodyincludes a mechanism that flaps the wing in a manner that causes thedrone to hover in one spot, and a subsystem that facilitates theattachment of the drone, while hovering in place, in at least one of asubstantially vertical or substantially horizontal surface or wire. 5.The drone of claim 4, wherein the subsystem includes means for ejectingglue on the at least one of a substantially vertical or substantiallyhorizontal surface or wire, and means for connecting the main body tothe ejected glue,
 6. The drone of claim 4, wherein the subsystem furtherincludes leg that facilitate the drone sitting upright in fixedposition.
 7. The drone of claim 6, wherein the drone, once attached,includes on-board mechanisms that capture information via at least oneinput source and either store this information or retransmit itwirelessly in real-time.
 8. The drone of claim 4, wherein the flappingaction includes orientating the wings.
 9. The drone of claim 4, whereinthe drone includes a subsystem that facilitates fixedly attaching thedrone to a moving object and communicating information to the movingobject.
 10. The drone of claim 4, wherein the drone includes a subsystemthat facilitates attaching an object by the drone to a moving object tofacilitate tracking or monitoring of the object.
 11. The drone of claim1, wherein the wings have a substantially transparent configuration. 12.The drone of claim 11, wherein the drone includes a subsystem thatfacilitates fixedly attaching the drone to a moving object andcommunicating information to the moving object.
 13. The drone of claim11, wherein the drone includes a subsystem that facilitates attaching anobject by the drone to a moving object to facilitate tracking ormonitoring of the object.